Program Listing for File smacc_orthogonal.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/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