#include <smacc_action_client_base.h>

Inheritance diagram for smacc::client_bases::SmaccActionClientBase< ActionType >:

Collaboration diagram for smacc::client_bases::SmaccActionClientBase< ActionType >:

Public Types
typedef actionlib::SimpleActionClient< ActionType >	ActionClient

typedef actionlib::SimpleActionClient< ActionType >	GoalHandle

typedef ActionClient::SimpleDoneCallback	SimpleDoneCallback

typedef ActionClient::SimpleActiveCallback	SimpleActiveCallback

typedef ActionClient::SimpleFeedbackCallback	SimpleFeedbackCallback

Public Member Functions
	ACTION_DEFINITION (ActionType)

	SmaccActionClientBase (std::string actionServerName)

	SmaccActionClientBase ()

virtual	~SmaccActionClientBase ()

virtual void	initialize () override

template<typename EvType >
void	postResultEvent (ResultConstPtr result)

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename T >
boost::signals2::connection	onSucceeded (void(T::callback)(ResultConstPtr &), T object)

template<typename T >
boost::signals2::connection	onSucceeded (std::function< void(ResultConstPtr &)> callback)

template<typename T >
boost::signals2::connection	onAborted (void(T::callback)(ResultConstPtr &), T object)

template<typename T >
boost::signals2::connection	onAborted (std::function< void(ResultConstPtr &)> callback)

template<typename T >
boost::signals2::connection	onPreempted (void(T::callback)(ResultConstPtr &), T object)

template<typename T >
boost::signals2::connection	onPreempted (std::function< void(ResultConstPtr &)> callback)

template<typename T >
boost::signals2::connection	onRejected (void(T::callback)(ResultConstPtr &), T object)

template<typename T >
boost::signals2::connection	onRejected (std::function< void(ResultConstPtr &)> callback)

virtual void	cancelGoal () override

virtual SimpleClientGoalState	getState () override

void	sendGoal (Goal &goal)

Public Member Functions inherited from smacc::client_bases::ISmaccActionClient
	ISmaccActionClient ()

virtual	~ISmaccActionClient ()

std::string	getNamespace () const

virtual void	cancelGoal ()=0

virtual SimpleClientGoalState	getState ()=0

Public Member Functions inherited from smacc::ISmaccClient
	ISmaccClient ()

virtual	~ISmaccClient ()

virtual void	initialize ()

virtual std::string	getName () const

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

virtual smacc::introspection::TypeInfo::Ptr	getType ()

ISmaccStateMachine *	getStateMachine ()

template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::callback)(), T object)

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)

Static Public Member Functions
static std::string	getEventLabel ()

Public Attributes
std::string	name_
	rosnamespace path More...

smacc::SmaccSignal< void(const ResultConstPtr &)>	onSucceeded_

smacc::SmaccSignal< void(const ResultConstPtr &)>	onAborted_

smacc::SmaccSignal< void(const ResultConstPtr &)>	onPreempted_

smacc::SmaccSignal< void(const ResultConstPtr &)>	onRejected_

std::function< void(ResultConstPtr)>	postSuccessEvent

std::function< void(ResultConstPtr)>	postAbortedEvent

std::function< void(ResultConstPtr)>	postPreemptedEvent

std::function< void(ResultConstPtr)>	postRejectedEvent

std::function< void(FeedbackConstPtr)>	postFeedbackEvent

SimpleDoneCallback	done_cb

SimpleActiveCallback	active_cb

SimpleFeedbackCallback	feedback_cb

Protected Member Functions
void	onFeedback (const FeedbackConstPtr &feedback_msg)

void	onResult (const SimpleClientGoalState &state, const ResultConstPtr &result_msg)

Protected Member Functions inherited from smacc::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)

void	setStateMachine (ISmaccStateMachine *stateMachine)

void	setOrthogonal (ISmaccOrthogonal *orthogonal)

Protected Attributes
std::shared_ptr< ActionClient >	client_

Protected Attributes inherited from smacc::client_bases::ISmaccActionClient
std::string	name_

Protected Attributes inherited from smacc::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc::ISmaccComponent > >	components_

Detailed Description

template<typename ActionType>
class smacc::client_bases::SmaccActionClientBase< ActionType >

Definition at line 21 of file smacc_action_client_base.h.

Member Typedef Documentation

◆ ActionClient

template<typename ActionType >

typedef actionlib::SimpleActionClient<ActionType> smacc::client_bases::SmaccActionClientBase< ActionType >::ActionClient

Definition at line 26 of file smacc_action_client_base.h.

◆ GoalHandle

template<typename ActionType >

typedef actionlib::SimpleActionClient<ActionType> smacc::client_bases::SmaccActionClientBase< ActionType >::GoalHandle

Definition at line 27 of file smacc_action_client_base.h.

◆ SimpleActiveCallback

template<typename ActionType >

typedef ActionClient::SimpleActiveCallback smacc::client_bases::SmaccActionClientBase< ActionType >::SimpleActiveCallback

Definition at line 30 of file smacc_action_client_base.h.

◆ SimpleDoneCallback

template<typename ActionType >

typedef ActionClient::SimpleDoneCallback smacc::client_bases::SmaccActionClientBase< ActionType >::SimpleDoneCallback

Definition at line 29 of file smacc_action_client_base.h.

◆ SimpleFeedbackCallback

template<typename ActionType >

typedef ActionClient::SimpleFeedbackCallback smacc::client_bases::SmaccActionClientBase< ActionType >::SimpleFeedbackCallback

Definition at line 31 of file smacc_action_client_base.h.

Constructor & Destructor Documentation

◆ SmaccActionClientBase() [1/2]

template<typename ActionType >

smacc::client_bases::SmaccActionClientBase< ActionType >::SmaccActionClientBase ( std::string actionServerName )

inline

Definition at line 33 of file smacc_action_client_base.h.

        : ISmaccActionClient(),
          name_(actionServerName)
    {
    }

◆ SmaccActionClientBase() [2/2]

template<typename ActionType >

smacc::client_bases::SmaccActionClientBase< ActionType >::SmaccActionClientBase ( )

inline

Definition at line 39 of file smacc_action_client_base.h.

        : ISmaccActionClient(),
          name_("")
    {
    }

◆ ~SmaccActionClientBase()

template<typename ActionType >

virtual smacc::client_bases::SmaccActionClientBase< ActionType >::~SmaccActionClientBase ( )

inlinevirtual

Definition at line 51 of file smacc_action_client_base.h.

52 {

53 }

Member Function Documentation

◆ ACTION_DEFINITION()

template<typename ActionType >

smacc::client_bases::SmaccActionClientBase< ActionType >::ACTION_DEFINITION ( ActionType )

◆ cancelGoal()

template<typename ActionType >

virtual void smacc::client_bases::SmaccActionClientBase< ActionType >::cancelGoal ( )

inlineoverridevirtual

Implements smacc::client_bases::ISmaccActionClient.

Definition at line 159 of file smacc_action_client_base.h.

    {
        if (client_->isServerConnected())
        {
            ROS_INFO("Cancelling goal of %s", this->getName().c_str());
            client_->cancelGoal();
        }
        else
        {
            ROS_ERROR("%s [at %s]: not connected with actionserver, skipping cancel goal ...", getName().c_str(), getNamespace().c_str());
        }
    }

References smacc::client_bases::SmaccActionClientBase< ActionType >::client_, smacc::ISmaccClient::getName(), and smacc::client_bases::ISmaccActionClient::getNamespace().

Referenced by cl_move_base_z::CbUndoPathBackwards2::update().

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◆ getEventLabel()

template<typename ActionType >

static std::string smacc::client_bases::SmaccActionClientBase< ActionType >::getEventLabel ( )

inlinestatic

Definition at line 45 of file smacc_action_client_base.h.

    {
        auto type = TypeInfo::getTypeInfoFromType<ActionType>();
        return type->getNonTemplatedTypeName();
    }

◆ getState()

template<typename ActionType >

virtual SimpleClientGoalState smacc::client_bases::SmaccActionClientBase< ActionType >::getState ( )

inlineoverridevirtual

Implements smacc::client_bases::ISmaccActionClient.

Definition at line 172 of file smacc_action_client_base.h.

    {
        return client_->getState();
    }

References smacc::client_bases::SmaccActionClientBase< ActionType >::client_.

Referenced by smacc::client_bases::SmaccActionClientBase< ActionType >::onResult().

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◆ initialize()

template<typename ActionType >

virtual void smacc::client_bases::SmaccActionClientBase< ActionType >::initialize ( )

inlineoverridevirtual

Reimplemented from smacc::ISmaccClient.

Reimplemented in cl_move_base_z::ClMoveBaseZ.

Definition at line 58 of file smacc_action_client_base.h.

    {
        client_ = std::make_shared<ActionClient>(name_);
    }

References smacc::client_bases::SmaccActionClientBase< ActionType >::client_, and smacc::client_bases::SmaccActionClientBase< ActionType >::name_.

◆ onAborted() [1/2]

template<typename ActionType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccActionClientBase< ActionType >::onAborted ( std::function< void(ResultConstPtr &)> callback )

inline

Definition at line 130 of file smacc_action_client_base.h.

    {
        return this->getStateMachine()->createSignalConnection(onAborted_, callback);
    }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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◆ onAborted() [2/2]

template<typename ActionType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccActionClientBase< ActionType >::onAborted	(	void(T::*)(ResultConstPtr &)	callback,
		T *	object
	)

inline

Definition at line 124 of file smacc_action_client_base.h.

    {
        return this->getStateMachine()->createSignalConnection(onAborted_, callback, object);
    }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

Referenced by cl_move_base_z::CbMoveBaseClientBehaviorBase::onOrthogonalAllocation().

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◆ onFeedback()

template<typename ActionType >

void smacc::client_bases::SmaccActionClientBase< ActionType >::onFeedback ( const FeedbackConstPtr & feedback_msg )

inlineprotected

Definition at line 197 of file smacc_action_client_base.h.

    {
        postFeedbackEvent(feedback_msg);
    }

References smacc::client_bases::SmaccActionClientBase< ActionType >::postFeedbackEvent.

◆ onOrthogonalAllocation()

template<typename ActionType >

template<typename TOrthogonal , typename TSourceObject >

void smacc::client_bases::SmaccActionClientBase< ActionType >::onOrthogonalAllocation ( )

inline

Definition at line 91 of file smacc_action_client_base.h.

    {
        // we create here all the event factory functions capturing the TOrthogonal
        postSuccessEvent = [=](auto msg) { this->postResultEvent<EvActionSucceeded<TSourceObject, TOrthogonal>>(msg); };
        postAbortedEvent = [=](auto msg) { this->postResultEvent<EvActionAborted<TSourceObject, TOrthogonal>>(msg); };
        postPreemptedEvent = [=](auto msg) { this->postResultEvent<EvActionPreempted<TSourceObject, TOrthogonal>>(msg); };
        postRejectedEvent = [=](auto msg) { this->postResultEvent<EvActionRejected<TSourceObject, TOrthogonal>>(msg); };
        postFeedbackEvent = [=](auto msg) {
            auto actionFeedbackEvent = new EvActionFeedback<Feedback, TOrthogonal>();
            actionFeedbackEvent->client = this;
            actionFeedbackEvent->feedbackMessage = *msg;
            this->postEvent(actionFeedbackEvent);
            ROS_DEBUG("[%s] FEEDBACK EVENT", demangleType(typeid(*this)).c_str());
        };
 
        done_cb = boost::bind(&SmaccActionClientBase<ActionType>::onResult, this, _1, _2);
        //active_cb;
        feedback_cb = boost::bind(&SmaccActionClientBase<ActionType>::onFeedback, this, _1);
    }

References smacc::introspection::demangleType(), smacc::client_bases::SmaccActionClientBase< ActionType >::done_cb, smacc::client_bases::SmaccActionClientBase< ActionType >::feedback_cb, smacc::client_bases::SmaccActionClientBase< ActionType >::postAbortedEvent, smacc::ISmaccClient::postEvent(), smacc::client_bases::SmaccActionClientBase< ActionType >::postFeedbackEvent, smacc::client_bases::SmaccActionClientBase< ActionType >::postPreemptedEvent, smacc::client_bases::SmaccActionClientBase< ActionType >::postRejectedEvent, and smacc::client_bases::SmaccActionClientBase< ActionType >::postSuccessEvent.

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◆ onPreempted() [1/2]

template<typename ActionType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccActionClientBase< ActionType >::onPreempted ( std::function< void(ResultConstPtr &)> callback )

inline

Definition at line 142 of file smacc_action_client_base.h.

    {
        return this->getStateMachine()->createSignalConnection(onPreempted_, callback);
    }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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◆ onPreempted() [2/2]

template<typename ActionType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccActionClientBase< ActionType >::onPreempted	(	void(T::*)(ResultConstPtr &)	callback,
		T *	object
	)

inline

Definition at line 136 of file smacc_action_client_base.h.

    {
        return this->getStateMachine()->createSignalConnection(onPreempted_, callback, object);
    }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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◆ onRejected() [1/2]

template<typename ActionType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccActionClientBase< ActionType >::onRejected ( std::function< void(ResultConstPtr &)> callback )

inline

Definition at line 154 of file smacc_action_client_base.h.

    {
        return this->getStateMachine()->createSignalConnection(onRejected_, callback);
    }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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◆ onRejected() [2/2]

template<typename ActionType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccActionClientBase< ActionType >::onRejected	(	void(T::*)(ResultConstPtr &)	callback,
		T *	object
	)

inline

Definition at line 148 of file smacc_action_client_base.h.

    {
        return this->getStateMachine()->createSignalConnection(onRejected_, callback, object);
    }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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◆ onResult()

template<typename ActionType >

void smacc::client_bases::SmaccActionClientBase< ActionType >::onResult	(	const SimpleClientGoalState &	state,
		const ResultConstPtr &	result_msg
	)

inlineprotected

Definition at line 202 of file smacc_action_client_base.h.

    {
        // auto *actionResultEvent = new EvActionResult<TDerived>();
        // actionResultEvent->client = this;
        // actionResultEvent->resultMessage = *result_msg;
 
        const auto &resultType = this->getState();
        ROS_INFO("[%s] request result: %s", this->getName().c_str(), resultType.toString().c_str());
 
        if (resultType == actionlib::SimpleClientGoalState::SUCCEEDED)
        {
            ROS_INFO("[%s] request result: Success", this->getName().c_str());
            onSucceeded_(result_msg);
            postSuccessEvent(result_msg);
        }
        else if (resultType == actionlib::SimpleClientGoalState::ABORTED)
        {
            ROS_INFO("[%s] request result: Aborted", this->getName().c_str());
            onAborted_(result_msg);
            postAbortedEvent(result_msg);
        }
        else if (resultType == actionlib::SimpleClientGoalState::REJECTED)
        {
            ROS_INFO("[%s] request result: Rejected", this->getName().c_str());
            onRejected_(result_msg);
            postRejectedEvent(result_msg);
        }
        else if (resultType == actionlib::SimpleClientGoalState::PREEMPTED)
        {
            ROS_INFO("[%s] request result: Preempted", this->getName().c_str());
            onPreempted_(result_msg);
            postPreemptedEvent(result_msg);
        }
        else
        {
            ROS_INFO("[%s] request result: NOT HANDLED TYPE: %s", this->getName().c_str(), resultType.toString().c_str());
        }
    }

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◆ onSucceeded() [1/2]

template<typename ActionType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccActionClientBase< ActionType >::onSucceeded ( std::function< void(ResultConstPtr &)> callback )

inline

Definition at line 118 of file smacc_action_client_base.h.

    {
        return this->getStateMachine()->createSignalConnection(onSucceeded_, callback);
    }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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◆ onSucceeded() [2/2]

template<typename ActionType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccActionClientBase< ActionType >::onSucceeded	(	void(T::*)(ResultConstPtr &)	callback,
		T *	object
	)

inline

Definition at line 112 of file smacc_action_client_base.h.

    {
        return this->getStateMachine()->createSignalConnection(onSucceeded_, callback, object);
    }

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

Referenced by cl_move_base_z::CbMoveBaseClientBehaviorBase::onOrthogonalAllocation(), and cl_move_base_z::WaypointNavigator::sendNextGoal().

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◆ postResultEvent()

template<typename ActionType >

template<typename EvType >

void smacc::client_bases::SmaccActionClientBase< ActionType >::postResultEvent ( ResultConstPtr result )

inline

Definition at line 81 of file smacc_action_client_base.h.

    {
        auto *ev = new EvType();
        //ev->client = this;
        ev->resultMessage = *result;
        ROS_INFO("Posting EVENT %s", demangleSymbol(typeid(ev).name()).c_str());
        this->postEvent(ev);
    }

References smacc::introspection::demangleSymbol(), and smacc::ISmaccClient::postEvent().

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◆ sendGoal()

template<typename ActionType >

void smacc::client_bases::SmaccActionClientBase< ActionType >::sendGoal ( Goal & goal )

inline

Definition at line 177 of file smacc_action_client_base.h.

    {
        ROS_INFO_STREAM("[ActionClient<"<< demangledTypeName<ActionType>() <<">] Sending goal to actionserver located in " << this->name_ << "\"");
 
        if (client_->isServerConnected())
        {
            ROS_INFO_STREAM(getName() << ": Goal Value: " << std::endl
                                      << goal);
            client_->sendGoal(goal, done_cb, active_cb, feedback_cb);
        }
        else
        {
            ROS_ERROR("%s [at %s]: not connected with actionserver, skipping goal request ...", getName().c_str(), getNamespace().c_str());
            //client_->waitForServer();
        }
    }