Program Listing for File smacc_component_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 <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