.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_impl_smacc_component_impl.hpp:

Program Listing for File smacc_component_impl.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_impl_smacc_component_impl.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/impl/smacc_component_impl.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 <string>
   
   #include <smacc2/component.hpp>
   #include <smacc2/impl/smacc_state_machine_impl.hpp>
   
   namespace smacc2
   {
   template <typename EventType>
   void ISmaccComponent::postEvent(const EventType & ev)
   {
     stateMachine_->postEvent(ev);
   }
   
   template <typename EventType>
   void ISmaccComponent::postEvent()
   {
     auto ev = new EventType();
     stateMachine_->postEvent(ev);
   }
   
   template <typename TComponent>
   void ISmaccComponent::requiresComponent(
     TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist)
   {
     requiredComponentStorage = this->owner_->getComponent<TComponent>();
   
     if (requiredComponentStorage == nullptr && throwExceptionIfNotExist)
     {
       RCLCPP_DEBUG_STREAM(
         this->getLogger(), std::string("Required component ") +
                              demangleSymbol(typeid(TComponent).name()) +
                              " not found. Available components:");
   
       std::vector<std::shared_ptr<ISmaccComponent>> components;
       this->owner_->getComponents(components);
   
       for (auto c : components)
       {
         RCLCPP_DEBUG(this->getLogger(), "- Component %s", c->getName().c_str());
       }
   
       throw std::runtime_error(
         std::string("Component ") + demangleSymbol(typeid(TComponent).name()) + " not found");
     }
   }
   
   template <typename TComponent>
   void ISmaccComponent::requiresComponent(
     std::string name, TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist)
   {
     requiredComponentStorage = this->owner_->getComponent<TComponent>(name);
   
     if (requiredComponentStorage == nullptr && throwExceptionIfNotExist)
     {
       RCLCPP_DEBUG_STREAM(
         this->getLogger(), std::string("Required component with name: '") + name + "'" +
                              demangleSymbol(typeid(TComponent).name()) +
                              " not found. Available components:");
   
       std::vector<std::shared_ptr<ISmaccComponent>> components;
       this->owner_->getComponents(components);
   
       for (auto c : components)
       {
         RCLCPP_DEBUG(this->getLogger(), " - Component %s", c->getName().c_str());
       }
   
       throw std::runtime_error(
         std::string("Component ") + demangleSymbol(typeid(TComponent).name()) +
         std::string(" not found"));
     }
   }
   
   template <typename TClient>
   void ISmaccComponent::requiresClient(TClient *& requiredClientStorage)
   {
     this->owner_->requiresClient(requiredClientStorage);
   }
   
   template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
   SmaccComponentType * ISmaccComponent::createSiblingComponent(TArgs... targs)
   {
     return this->owner_->createComponent<SmaccComponentType, TOrthogonal, TClient>(targs...);
   }
   
   template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
   SmaccComponentType * ISmaccComponent::createSiblingNamedComponent(std::string name, TArgs... targs)
   {
     return this->owner_->createNamedComponent<SmaccComponentType, TOrthogonal, TClient>(
       name, targs...);
   }
   
   }  // namespace smacc2