Program Listing for File cb_sequence.hpp
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// 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