.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_client_behaviors_cb_sequence.hpp:

Program Listing for File cb_sequence.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_client_behaviors_cb_sequence.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/client_behaviors/cb_sequence.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <functional>
   #include <rclcpp/rclcpp.hpp>
   #include <smacc2/smacc_asynchronous_client_behavior.hpp>
   
   namespace smacc2
   {
   namespace client_behaviors
   {
   class CbSequence : public smacc2::SmaccAsyncClientBehavior
   {
   public:
     CbSequence();
   
     // template <typename TOrthogonal, typename TBehavior>
     // static void configure_orthogonal_runtime(
     //   std::function<void(TBehavior & bh, MostDerived &)> initializationFunction)
     // {
     //   configure_orthogonal_internal<TOrthogonal, TBehavior>([=](ISmaccState * state) {
     //     // auto bh = std::make_shared<TBehavior>(args...);
     //     // auto bh = state->configure<TOrthogonal, TBehavior>();
     //     initializationFunction(*bh, *(static_cast<MostDerived *>(state)));
     //   });
     // }
   
     void onEntry() override;
   
     // template <typename TOrthogonal, typename TSourceObject>
     // void onOrthogonalAllocation()
     // {
     //   smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
     // }
   
     void onExit() override { sequenceNodes_.clear(); }
   
     template <typename TOrthogonal, typename TBehavior, typename... Args>
     CbSequence * then(Args &&... args)
     {
       std::function<std::shared_ptr<smacc2::SmaccAsyncClientBehavior>()> delayedCBFactoryFn =
         [this, args...]()
       {
         RCLCPP_INFO(
           getLogger(), "[CbSequence] then creating new sub behavior %s ",
           demangleSymbol<TBehavior>().c_str());
         auto createdBh = std::shared_ptr<TBehavior>(new TBehavior(args...));
   
         this->getCurrentState()->getOrthogonal<TOrthogonal>()->addClientBehavior(createdBh);
         createdBh->template onOrthogonalAllocation<TOrthogonal, TBehavior>();
   
         return createdBh;
       };
   
       sequenceNodes_.push_back(delayedCBFactoryFn);
   
       return this;
     }
   
   private:
     void onSubNodeSuccess();
     void onSubNodeAbort();
     void recursiveConsumeNext();
   
     std::list<std::function<std::shared_ptr<smacc2::SmaccAsyncClientBehavior>()>> sequenceNodes_;
     boost::signals2::connection conn_;
     boost::signals2::connection conn2_;
   
     std::shared_ptr<smacc2::SmaccAsyncClientBehavior> bh_;
     std::atomic<int> consume_{0};
   };
   }  // namespace client_behaviors
   }  // namespace smacc2