smacc::ISmaccOrthogonal Class Reference

#include <smacc_orthogonal.h>

Inheritance diagram for smacc::ISmaccOrthogonal:

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Public Member Functions
void	setStateMachine (ISmaccStateMachine *value)
ISmaccStateMachine *	getStateMachine ()
void	initState (ISmaccState *state)
void	addClientBehavior (std::shared_ptr< smacc::ISmaccClientBehavior > clientBehavior)
void	runtimeConfigure ()
void	onEntry ()
void	onExit ()
void	onDispose ()
virtual std::string	getName () const
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
template<typename SmaccClientType >
bool	requiresClient (SmaccClientType *&storage)
const std::vector< std::shared_ptr< smacc::ISmaccClient > > &	getClients ()
const std::vector< std::vector< std::shared_ptr< smacc::ISmaccClientBehavior > > > &	getClientBehaviors () const
template<typename T >
void	setGlobalSMData (std::string name, T value)
template<typename T >
bool	getGlobalSMData (std::string name, T &ret)
template<typename TClientBehavior >
TClientBehavior *	getClientBehavior ()

Protected Member Functions
virtual void	onInitialize ()
template<typename TOrthogonal , typename TClient >
void	assignClientToOrthogonal (TClient *client)

Protected Attributes
std::vector< std::shared_ptr< smacc::ISmaccClient > >	clients_

Private Attributes
ISmaccStateMachine *	stateMachine_
std::vector< std::vector< std::shared_ptr< smacc::ISmaccClientBehavior > > >	clientBehaviors_

Friends
class	ISmaccStateMachine

Detailed Description

Definition at line 13 of file smacc_orthogonal.h.

Member Function Documentation

addClientBehavior()

void smacc::ISmaccOrthogonal::addClientBehavior

(

std::shared_ptr< smacc::ISmaccClientBehavior >

clientBehavior

)

Definition at line 13 of file orthogonal.cpp.

    {
        if (clBehavior != nullptr)
        {
            ROS_INFO("[Orthogonal %s] adding client behavior: %s", this->getName().c_str(), clBehavior->getName().c_str());
            clBehavior->stateMachine_ = this->getStateMachine();
            clBehavior->currentOrthogonal = this;
 
            clientBehaviors_.back().push_back(clBehavior);
        }
        else
        {
            ROS_INFO("[orthogonal %s] no client behaviors in this state", this->getName().c_str());
        }
    }

References clientBehaviors_, getName(), and getStateMachine().

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assignClientToOrthogonal()

template<typename TOrthogonal , typename TClient >

void smacc::ISmaccOrthogonal::assignClientToOrthogonal ( TClient *  client )

protected

Definition at line 59 of file smacc_orthogonal_impl.h.

{
    client->setStateMachine(getStateMachine());
    client->setOrthogonal(this);
 
    client->template onOrthogonalAllocation<TOrthogonal, TClient>();
}

References getStateMachine().

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getClientBehavior()

template<typename TClientBehavior >

TClientBehavior * smacc::ISmaccOrthogonal::getClientBehavior

Definition at line 68 of file smacc_orthogonal_impl.h.

{
    for (auto &cb : this->clientBehaviors_.back())
    {
        auto *ret = dynamic_cast<TClientBehavior *>(cb.get());
        if (ret != nullptr)
        {
            return ret;
        }
    }
 
    return nullptr;
}

References clientBehaviors_.

getClientBehaviors()

const std::vector< std::vector< std::shared_ptr< smacc::ISmaccClientBehavior > > > & smacc::ISmaccOrthogonal::getClientBehaviors ( ) const

inline

Definition at line 87 of file smacc_orthogonal_impl.h.

{
    return this->clientBehaviors_;
}

References clientBehaviors_.

getClients()

const std::vector< std::shared_ptr< smacc::ISmaccClient > > & smacc::ISmaccOrthogonal::getClients ( )

inline

Definition at line 82 of file smacc_orthogonal_impl.h.

{
    return clients_;
}

References clients_.

getGlobalSMData()

template<typename T >

bool smacc::ISmaccOrthogonal::getGlobalSMData	(	std::string	name,
		T &	ret
	)

Definition at line 99 of file smacc_orthogonal_impl.h.

{
    return this->getStateMachine()->getGlobalSMData(name, ret);
}

References smacc::ISmaccStateMachine::getGlobalSMData(), and getStateMachine().

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getName()

std::string smacc::ISmaccOrthogonal::getName ( ) const

virtual

Definition at line 39 of file orthogonal.cpp.

    {
        return demangleSymbol(typeid(*this).name());
    }

References smacc::introspection::demangleSymbol().

Referenced by addClientBehavior(), initState(), onEntry(), onExit(), and runtimeConfigure().

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getStateMachine()

ISmaccStateMachine * smacc::ISmaccOrthogonal::getStateMachine ( )

inline

Definition at line 105 of file smacc_orthogonal_impl.h.

{ return this->stateMachine_; }

References stateMachine_.

Referenced by addClientBehavior(), assignClientToOrthogonal(), getGlobalSMData(), onDispose(), requiresClient(), and setGlobalSMData().

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initState()

void smacc::ISmaccOrthogonal::initState

(

ISmaccState *

state

)

Definition at line 33 of file orthogonal.cpp.

    {
        ROS_INFO("[Orthogonal %s] initState: %s", this->getName().c_str(), state->getClassName().c_str());
        clientBehaviors_.push_back(std::vector<std::shared_ptr<smacc::ISmaccClientBehavior>>());
    }

References clientBehaviors_, smacc::ISmaccState::getClassName(), and getName().

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onDispose()

void smacc::ISmaccOrthogonal::onDispose

(

)

Definition at line 103 of file orthogonal.cpp.

    {
        for (auto &clBehavior : clientBehaviors_.back())
        {
            clBehavior->dispose();
            this->getStateMachine()->disconnectSmaccSignalObject((void*)clBehavior.get());
        }
 
        clientBehaviors_.back().clear();
        clientBehaviors_.pop_back();
    }

References clientBehaviors_, smacc::ISmaccStateMachine::disconnectSmaccSignalObject(), and getStateMachine().

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onEntry()

void smacc::ISmaccOrthogonal::onEntry

(

)

Definition at line 55 of file orthogonal.cpp.

    {
        if (clientBehaviors_.back().size() > 0)
        {
            for (auto &clBehavior : clientBehaviors_.back())
            {
                ROS_INFO("[Orthogonal %s] OnEntry, current Behavior: %s", this->getName().c_str(), clBehavior->getName().c_str());
 
                try
                {
                    clBehavior->executeOnEntry();
                }
                catch (const std::exception &e)
                {
                    ROS_ERROR("[ClientBehavior %s] Exception on Entry - continuing with next client behavior. Exception info: %s",
                              clBehavior->getName().c_str(), e.what());
                }
            }
        }
        else
        {
            ROS_INFO("[Orthogonal %s] OnEntry", this->getName().c_str());
        }
    }

References clientBehaviors_, and getName().

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onExit()

void smacc::ISmaccOrthogonal::onExit

(

)

Definition at line 80 of file orthogonal.cpp.

    {
        if (clientBehaviors_.back().size() > 0)
        {
            for (auto &clBehavior : clientBehaviors_.back())
            {
                ROS_INFO("[Orthogonal %s] OnExit, current Behavior: %s", this->getName().c_str(), clBehavior->getName().c_str());
                try
                {
                    clBehavior->executeOnExit();
                }
                catch (const std::exception &e)
                {
                    ROS_ERROR("[ClientBehavior %s] Exception onExit - continuing with next client behavior. Exception info: %s", clBehavior->getName().c_str(), e.what());
                }
            }
        }
        else
        {
            ROS_INFO("[Orthogonal %s] OnExit", this->getName().c_str());
        }
    }

References clientBehaviors_, and getName().

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onInitialize()

void smacc::ISmaccOrthogonal::onInitialize ( )

protectedvirtual

Definition at line 29 of file orthogonal.cpp.

    {
    }

Referenced by setStateMachine().

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requiresClient()

template<typename SmaccClientType >

bool smacc::ISmaccOrthogonal::requiresClient

(

SmaccClientType *&

storage

)

Definition at line 16 of file smacc_orthogonal_impl.h.

{
    for (auto &client : clients_)
    {
        storage = dynamic_cast<SmaccClientType *>(client.get());
        if (storage != nullptr)
            return true;
    }
 
    auto requiredClientName = demangledTypeName<SmaccClientType>();
    ROS_WARN_STREAM("Required client ["<< requiredClientName<< "] not found in current orthogonal. Searching in other orthogonals.");
 
    for (auto &orthoentry : this->getStateMachine()->getOrthogonals())
    {
        for (auto &client : orthoentry.second->getClients())
        {
            storage = dynamic_cast<SmaccClientType *>(client.get());
            if (storage != nullptr)
            {
                ROS_WARN_STREAM("Required client  ["<< requiredClientName<<"] found in other orthogonal.");
                return true;
            }
        }
    }
 
    ROS_ERROR_STREAM("Required client ["<< requiredClientName<< "] not found even in other orthogonals. Returning null pointer. If the requested client is used may result in a segmentation fault.");
    return false;
}

References clients_, and getStateMachine().

Referenced by smacc::ISmaccClient::requiresClient(), and smacc::ISmaccClientBehavior::requiresClient().

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requiresComponent()

template<typename SmaccComponentType >

void smacc::ISmaccOrthogonal::requiresComponent

(

SmaccComponentType *&

storage

)

Definition at line 46 of file smacc_orthogonal_impl.h.

{
    if (stateMachine_ == nullptr)
    {
        ROS_ERROR("Cannot use the requiresComponent funcionality from an orthogonal before onInitialize");
    }
    else
    {
        stateMachine_->requiresComponent(storage);
    }
}

References smacc::ISmaccStateMachine::requiresComponent(), and stateMachine_.

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runtimeConfigure()

void smacc::ISmaccOrthogonal::runtimeConfigure

(

)

Definition at line 44 of file orthogonal.cpp.

    {
        for (auto &clBehavior : clientBehaviors_.back())
        {
            ROS_INFO("[Orthogonal %s] runtimeConfigure, current Behavior: %s", this->getName().c_str(),
                     clBehavior->getName().c_str());
 
            clBehavior->runtimeConfigure();
        }
    }

References clientBehaviors_, and getName().

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setGlobalSMData()

template<typename T >

void smacc::ISmaccOrthogonal::setGlobalSMData	(	std::string	name,
		T	value
	)

Definition at line 93 of file smacc_orthogonal_impl.h.

{
    this->getStateMachine()->setGlobalSMData(name, value);
}

References getStateMachine(), and smacc::ISmaccStateMachine::setGlobalSMData().

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setStateMachine()

void smacc::ISmaccOrthogonal::setStateMachine

(

ISmaccStateMachine *

value

)

Definition at line 7 of file orthogonal.cpp.

    {
        this->stateMachine_ = value;
        this->onInitialize();
    }

References onInitialize(), and stateMachine_.

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Friends And Related Function Documentation

ISmaccStateMachine

friend class ISmaccStateMachine

friend

Definition at line 65 of file smacc_orthogonal.h.

Member Data Documentation

clientBehaviors_

std::vector<std::vector<std::shared_ptr<smacc::ISmaccClientBehavior> > > smacc::ISmaccOrthogonal::clientBehaviors_

private

Definition at line 64 of file smacc_orthogonal.h.

Referenced by addClientBehavior(), getClientBehavior(), getClientBehaviors(), initState(), onDispose(), onEntry(), onExit(), and runtimeConfigure().

clients_

std::vector<std::shared_ptr<smacc::ISmaccClient> > smacc::ISmaccOrthogonal::clients_

protected

Definition at line 59 of file smacc_orthogonal.h.

Referenced by smacc::Orthogonal< TOrthogonal >::createClient(), getClients(), and requiresClient().

stateMachine_

ISmaccStateMachine* smacc::ISmaccOrthogonal::stateMachine_

private

Definition at line 62 of file smacc_orthogonal.h.

Referenced by getStateMachine(), requiresComponent(), and setStateMachine().

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The documentation for this class was generated from the following files:

• smacc/include/smacc/smacc_orthogonal.h
• smacc/include/smacc/impl/smacc_orthogonal_impl.h
• smacc/src/smacc/orthogonal.cpp