.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_include_smacc2_impl_smacc_state_reactor_impl.hpp:

Program Listing for File smacc_state_reactor_impl.hpp
=====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_include_smacc2_impl_smacc_state_reactor_impl.hpp>` (``/tmp/ws/src/SMACC2/smacc2/include/smacc2/impl/smacc_state_reactor_impl.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/introspection/introspection.hpp>
   #include <smacc2/smacc_state_reactor.hpp>
   
   namespace smacc2
   {
   template <typename EventType>
   void StateReactor::postEvent(const EventType & ev)
   {
     ownerState->postEvent(ev);
   }
   
   template <typename EventType>
   void StateReactor::postEvent()
   {
     ownerState->postEvent<EventType>();
   }
   
   template <typename TEv>
   void StateReactor::setOutputEvent()
   {
     this->postEventFn = [this]() {
       RCLCPP_INFO_STREAM(
         this->getLogger(), "[State Reactor Base] postingfn posting event: " << demangleSymbol<TEv>());
       auto * ev = new TEv();
       this->ownerState->getStateMachine().postEvent(ev);
     };
   }
   
   template <typename TEv>
   void StateReactor::addInputEvent()
   {
     this->eventTypes.push_back(&typeid(TEv));
   }
   
   template <typename T, typename TClass>
   void StateReactor::createEventCallback(void (TClass::*callback)(T *), TClass * object)
   {
     const auto * eventtype = &typeid(T);
     this->eventCallbacks_[eventtype] = [=](void * msg) {
       T * evptr = (T *)msg;
       (object->*callback)(evptr);
     };
   }
   
   template <typename T>
   void StateReactor::createEventCallback(std::function<void(T *)> callback)
   {
     const auto * eventtype = &typeid(T);
     this->eventCallbacks_[eventtype] = [=](void * msg) {
       T * evptr = (T *)msg;
       callback(evptr);
     };
   }
   
   namespace introspection
   {
   template <typename TEv>
   void StateReactorHandler::addInputEvent()
   {
     StateReactorCallbackFunctor functor;
     functor.fn = [this](std::shared_ptr<smacc2::StateReactor> sr) {
       RCLCPP_INFO(
         nh_->get_logger(), "[%s] State Reactor adding input event: %s",
         srInfo_->stateReactorType->getFullName().c_str(), demangledTypeName<TEv>().c_str());
       sr->addInputEvent<TEv>();
     };
   
     this->callbacks_.push_back(functor);
   
     auto evtype = TypeInfo::getFromStdTypeInfo(typeid(TEv));
     auto evinfo = std::make_shared<SmaccEventInfo>(evtype);
     EventLabel<TEv>(evinfo->label);
   
     srInfo_->sourceEventTypes.push_back(evinfo);
   }
   
   template <typename TEv>
   void StateReactorHandler::setOutputEvent()
   {
     StateReactorCallbackFunctor functor;
     functor.fn = [this](std::shared_ptr<smacc2::StateReactor> sr) {
       RCLCPP_INFO(
         nh_->get_logger(), "[%s] State Reactor setting output event: %s",
         srInfo_->stateReactorType->getFullName().c_str(), demangledTypeName<TEv>().c_str());
       sr->setOutputEvent<TEv>();
     };
   
     this->callbacks_.push_back(functor);
   }
   }  // namespace introspection
   
   }  // namespace smacc2