smacc_client_behavior_impl.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <smacc/smacc_client_behavior.h>
#include <smacc/smacc_state_machine.h>
 
namespace smacc
{
 
template <typename EventType>
void ISmaccClientBehavior::postEvent(const EventType &ev)
{
    if (stateMachine_ == nullptr)
    {
        ROS_ERROR("The client behavior cannot post events before being assigned to an orthogonal. Ignoring post event call.");
    }
    else
    {
        stateMachine_->postEvent(ev, EventLifeTime::CURRENT_STATE);
    }
}
 
template <typename EventType>
void ISmaccClientBehavior::postEvent()
{
    if (stateMachine_ == nullptr)
    {
        ROS_ERROR("The client behavior cannot post events before being assigned to an orthogonal. Ignoring post event call.");
    }
    else
    {
 
        stateMachine_->template postEvent<EventType>(EventLifeTime::CURRENT_STATE);
    }
}
 
//inline
ISmaccStateMachine *ISmaccClientBehavior::getStateMachine()
{
    return this->stateMachine_;
}
 
//inline
ISmaccState *ISmaccClientBehavior::getCurrentState()
{
    return this->currentState;
}
 
template <typename SmaccClientType>
void ISmaccClientBehavior::requiresClient(SmaccClientType *&storage)
{
    currentOrthogonal->requiresClient(storage);
}
 
template <typename SmaccComponentType>
void ISmaccClientBehavior::requiresComponent(SmaccComponentType *&storage)
{
    if (stateMachine_ == nullptr)
    {
        ROS_ERROR("Cannot use the requiresComponent funcionality before assigning the client behavior to an orthogonal. Try using the OnEntry method to capture required components.");
    }
    else
    {
        stateMachine_->requiresComponent(storage);
    }
}
 
template <typename TOrthogonal, typename TSourceObject>
void ISmaccClientBehavior::onOrthogonalAllocation() {}
 
} // namespace smacc