.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_impl_smacc_client_behavior_impl.hpp:

Program Listing for File smacc_client_behavior_impl.hpp
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_impl_smacc_client_behavior_impl.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/impl/smacc_client_behavior_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/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