.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_smacc_client_behavior_base.hpp:

Program Listing for File smacc_client_behavior_base.hpp
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_smacc_client_behavior_base.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/smacc_client_behavior_base.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/common.hpp>
   
   namespace smacc2
   {
   class ISmaccClientBehavior
   {
   public:
     ISmaccClientBehavior();
   
     virtual ~ISmaccClientBehavior();
   
     inline ISmaccStateMachine * getStateMachine();
   
     std::string getName() const;
   
     template <typename SmaccClientType>
     void requiresClient(SmaccClientType *& storage);
   
     template <typename SmaccComponentType>
     void requiresComponent(SmaccComponentType *& storage, bool throwExceptionIfNotExist = false);
   
     virtual void onEntry() {}
   
     virtual void onExit() {}
   
     //internal visibility (private + friend)
     virtual void executeOnEntry();
   
     //internal visibility (private + friend)
     virtual void executeOnExit();
   
   protected:
     virtual void runtimeConfigure();
   
     template <typename EventType>
     void postEvent(const EventType & ev);
   
     template <typename EventType>
     void postEvent();
   
     inline ISmaccState * getCurrentState();
   
     virtual void dispose();
   
     virtual rclcpp::Node::SharedPtr getNode() const;
   
     virtual rclcpp::Logger getLogger() const;
   
   private:
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation();
   
     // a reference to the owner state machine
     ISmaccStateMachine * stateMachine_;
   
     // a reference to the state where the client behavior is being executed
     ISmaccState * currentState;
     smacc2::ISmaccOrthogonal * currentOrthogonal;
   
     friend class ISmaccState;
     friend class ISmaccOrthogonal;
     friend class ISmaccAsynchronousClientBehavior;
   };
   }  // namespace smacc2