.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_smacc_orthogonal.hpp:

Program Listing for File smacc_orthogonal.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_smacc_orthogonal.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/smacc_orthogonal.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 <smacc2/common.hpp>
   #include <utility>
   
   namespace smacc2
   {
   class ISmaccOrthogonal
   {
   public:
     void setStateMachine(ISmaccStateMachine * value);
   
     inline ISmaccStateMachine * getStateMachine();
   
     void initState(ISmaccState * state);
   
     void addClientBehavior(std::shared_ptr<smacc2::ISmaccClientBehavior> clientBehavior);
   
     void runtimeConfigure();
   
     void onEntry();
   
     void onExit();
   
     void onDispose();
   
     virtual std::string getName() const;
   
     template <typename SmaccComponentType>
     void requiresComponent(SmaccComponentType *& storage);
   
     template <typename SmaccClientType>
     bool requiresClient(SmaccClientType *& storage);
   
     inline const std::vector<std::shared_ptr<smacc2::ISmaccClient>> & getClients();
   
     inline const std::vector<std::vector<std::shared_ptr<smacc2::ISmaccClientBehavior>>> &
     getClientBehaviors() const;
   
     template <typename T>
     void setGlobalSMData(std::string name, T value);
   
     template <typename T>
     bool getGlobalSMData(std::string name, T & ret);
   
     // returns a client behavior of a given type. If the client behavior is not found, it returns nullptr
     // the index parameter is used to specify the client behavior in case there are more than one
     template <typename TClientBehavior>
     TClientBehavior * getClientBehavior(int index = 0);
   
     rclcpp::Node::SharedPtr getNode();
     inline rclcpp::Logger getLogger() { return getNode()->get_logger(); }
   
   protected:
     virtual void onInitialize();
   
     void initializeClients();
   
     template <typename TOrthogonal, typename TClient>
     void assignClientToOrthogonal(TClient * client);
   
     std::vector<std::shared_ptr<smacc2::ISmaccClient>> clients_;
   
   private:
     ISmaccStateMachine * stateMachine_;
   
     std::vector<std::vector<std::shared_ptr<smacc2::ISmaccClientBehavior>>> clientBehaviors_;
     friend class ISmaccStateMachine;
   
     std::mutex mutex_;
   };
   
   }  // namespace smacc2