Program Listing for File smacc_client_behavior_impl.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 <smacc2/smacc_client_behavior.hpp>
#include <smacc2/smacc_state_machine.hpp>
namespace smacc2
{
template <typename EventType>
void ISmaccClientBehavior::postEvent(const EventType & ev)
{
if (stateMachine_ == nullptr)
{
RCLCPP_ERROR(
getLogger(),
"The client behavior cannot post events before being assigned to an orthogonal. Ignoring "
"post event call.");
}
else
{
stateMachine_->postEvent(ev, EventLifeTime::CURRENT_STATE);
}
}
template <typename EventType>
void ISmaccClientBehavior::postEvent()
{
if (stateMachine_ == nullptr)
{
RCLCPP_ERROR(
getLogger(),
"The client behavior cannot post events before being assigned to an orthogonal. Ignoring "
"post event call.");
}
else
{
stateMachine_->template postEvent<EventType>(EventLifeTime::CURRENT_STATE);
}
}
//inline
ISmaccStateMachine * ISmaccClientBehavior::getStateMachine() { return this->stateMachine_; }
//inline
ISmaccState * ISmaccClientBehavior::getCurrentState() { return this->currentState; }
template <typename SmaccClientType>
void ISmaccClientBehavior::requiresClient(SmaccClientType *& storage)
{
currentOrthogonal->requiresClient(storage);
}
template <typename SmaccComponentType>
void ISmaccClientBehavior::requiresComponent(
SmaccComponentType *& storage, bool throwExceptionIfNotExist)
{
if (stateMachine_ == nullptr)
{
RCLCPP_ERROR(
getLogger(),
"Cannot use the requiresComponent funcionality before assigning the client behavior to an "
"orthogonal. Try using the OnEntry method to capture required components.");
}
else
{
stateMachine_->requiresComponent(storage, throwExceptionIfNotExist);
}
}
template <typename TOrthogonal, typename TSourceObject>
void ISmaccClientBehavior::onOrthogonalAllocation()
{
}
} // namespace smacc2