Class ModeObserver
Defined in File mode_observer.hpp
Class Documentation
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class ModeObserver
Mode observer provides a local system modes cache.
The mode observer serves as a local system modes cache, instantiated by a node. The mode observer will initially try to gain current states/modes from all observes entities and will then continuously monitor transitions to keep up to date.
Public Functions
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explicit ModeObserver(std::weak_ptr<rclcpp::Node>)
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virtual ~ModeObserver() = default
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virtual StateAndMode get(const string &part_name)
Getter for observed state and mode.
Returns cached observed state and mode for requested system entity (system or node).
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virtual void observe(const string &part_name)
Add part to list of observed parts.
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virtual void stop_observing(const string &part_name)
Remove part from list of observed parts.
Protected Functions
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explicit ModeObserver(std::weak_ptr<rclcpp::Node>)