[
{
"path": ".codespell-ignore-words.txt",
"content": "ba\n"
},
{
"path": ".github/workflows/CI.yaml",
"content": "name: Noetic Continuous Integration\n\non:\n push:\n pull_request:\n\njobs:\n CI:\n runs-on: ubuntu-latest\n container: osrf/ros:noetic-desktop\n steps:\n - uses: actions/checkout@v1\n with:\n path: src/SMACC\n\n - shell: bash\n run: |\n source /opt/ros/noetic/setup.bash\n apt update\n rosdep update\n rosdep install --from-paths . --ignore-src -r -y\n cd ../../\n catkin_make -DCMAKE_BUILD_TYPE=Debug\n"
},
{
"path": ".github/workflows/bloom_release.yml",
"content": "name: bloom-release\n\non:\n push:\n paths:\n - package.xml\n - '*/package.xml'\n - '.github/workflows/bloom_release.yml'\n branches: noetic-devel\n\njobs:\n bloom-release:\n runs-on: ubuntu-latest\n env:\n ROS_DISTRO: noetic\n PRERELEASE: true\n BASEDIR: ${{ github.workspace }}/.work\n\n steps:\n - name: checkout\n uses: actions/checkout@v2\n\n # BASIC CODE QUALITY\n - run: |\n sudo apt-get update\n sudo apt-get install -y clang-format-12\n\n - uses: actions/setup-python@v3\n with:\n python-version: 3.9\n\n - name: code quality check\n uses: pre-commit/action@v3.0.0\n\n # BLOOM PRERELEASE CHECK\n # - name: industrial_ci prerelease check\n # uses: ros-industrial/industrial_ci@master\n\n # BLOOM RELEASE\n - name: bloom release\n uses: pabloinigoblasco/bloom-release-action@master\n with:\n ros_distro: ${{ env.ROS_DISTRO }}\n github_token_bloom: ${{ secrets.GITTOKEN_BLOOM }}\n github_user: pabloinigoblasco\n git_user: pabloinigoblasco\n git_email: pablo@ibrobotics.com\n release_repository_push_url: https://github.com/robosoft-ai/SMACC-release\n tag_and_release: true\n #open_pr: true\n"
},
{
"path": ".github/workflows/code_quality.yml",
"content": "name: Code Format & Quality\n\non:\n pull_request:\n push:\n\njobs:\n pre-commit:\n runs-on: ubuntu-latest\n steps:\n - run: |\n sudo apt-get update\n sudo apt-get install -y clang-format-12\n - uses: actions/checkout@v3\n - uses: actions/setup-python@v3\n with:\n python-version: 3.9\n - uses: pre-commit/action@v3.0.0\n"
},
{
"path": ".github/workflows/doxygen.yml",
"content": "name: Doxygen\n\non:\n push:\n branches: [noetic-devel]\n\njobs:\n doxygen:\n runs-on: ubuntu-20.04\n steps:\n - uses: actions/checkout@v1\n\n - uses: mattnotmitt/doxygen-action@v1\n with:\n doxyfile-path: 'smacc_ci/Doxyfile'\n\n - uses: peaceiris/actions-gh-pages@v3\n with:\n deploy_key: ${{ secrets.ACTION_DEPLOY_KEY }}\n external_repository: robosoft-ai/smacc_doxygen\n publish_branch: gh-pages\n publish_dir: docs/\n destination_dir: noetic\n commit_message: ${{ github.event.head_commit.message }}\n"
},
{
"path": ".gitignore",
"content": "build\ninstall\nlog\nbin\n"
},
{
"path": ".pre-commit-config.yaml",
"content": "# To use:\n#\n# pre-commit run -a\n#\n# Or:\n#\n# pre-commit install # (runs every time you commit in git)\n#\n# To update this file:\n#\n# pre-commit autoupdate\n#\n# See https://github.com/pre-commit/pre-commit\n\nrepos:\n # Standard hooks\n - repo: https://github.com/pre-commit/pre-commit-hooks\n rev: v4.1.0\n hooks:\n - id: check-added-large-files\n - id: check-ast\n - id: check-case-conflict\n - id: check-docstring-first\n - id: check-merge-conflict\n - id: check-symlinks\n - id: check-xml\n #- id: check-yaml\n - id: debug-statements\n - id: end-of-file-fixer\n - id: mixed-line-ending\n - id: trailing-whitespace\n - id: fix-byte-order-marker\n\n # Python hooks\n - repo: https://github.com/asottile/pyupgrade\n rev: v2.31.0\n hooks:\n - id: pyupgrade\n args: [--py36-plus]\n\n - repo: https://github.com/psf/black\n rev: 22.3.0\n hooks:\n - id: black\n args: [\"--line-length=99\"]\n\n # PEP 257\n - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257\n rev: v0.3.3\n hooks:\n - id: pep257\n args: [\"--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404\"]\n\n - repo: https://github.com/pycqa/flake8\n rev: 4.0.1\n hooks:\n - id: flake8\n args: [\"--ignore=E501,W503,E203\"]\n\n # CPP hooks\n - repo: local\n hooks:\n - id: clang-format\n name: clang-format\n description: Format files with ClangFormat.\n entry: clang-format\n language: system\n files: \\.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$\n args: ['-fallback-style=none', '-i']\n # exclude: smacc2_sm_reference_library/\n\n\n # Docs - RestructuredText hooks\n - repo: https://github.com/PyCQA/doc8\n rev: 0.10.1\n hooks:\n - id: doc8\n args: ['--max-line-length=100', '--ignore=D001']\n exclude: CHANGELOG\\.rst$\n\n - repo: https://github.com/pre-commit/pygrep-hooks\n rev: v1.9.0\n hooks:\n - id: rst-backticks\n exclude: CHANGELOG\\.rst$\n - id: rst-directive-colons\n - id: rst-inline-touching-normal\n\n # Spellcheck in comments and docs\n # skipping of *.svg files is not working...\n - repo: https://github.com/codespell-project/codespell\n rev: v2.1.0\n hooks:\n - id: codespell\n name: codespell\n description: Checks for common misspellings in text files.\n entry: codespell\n language: python\n types: [text]\n args: ['--ignore-words=.codespell-ignore-words.txt', '--write-changes']\n exclude: \\.(svg|pyc)$\n"
},
{
"path": ".vscode/launch.json",
"content": "{\n // Use IntelliSense to learn about possible attributes.\n // Hover to view descriptions of existing attributes.\n // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387\n \"version\": \"0.2.0\",\n \"configurations\": [\n {\n \"name\": \"(gdb) sm_fetch\",\n \"type\": \"cppdbg\",\n \"request\": \"launch\",\n \"program\": \"${workspaceFolder}/devel/lib/sm_fetch_six_table_pick_n_sort_1/sm_fetch_six_table_pick_n_sort_1_node\",\n \"args\": [\"__name:=sm_fetch_six_table_pick_n_sort_1_node\"],\n \"stopAtEntry\": false,\n \"cwd\": \"${workspaceFolder}\",\n \"environment\": [],\n \"console\": \"externalTerminal\",\n \"MIMode\": \"gdb\",\n \"setupCommands\": [\n {\n \"description\": \"Enable pretty-printing for gdb\",\n \"text\": \"-enable-pretty-printing\",\n \"ignoreFailures\": true\n }\n ]\n },\n {\n \"name\": \"(gdb) sm_atomic_mode_states\",\n \"type\": \"cppdbg\",\n \"request\": \"launch\",\n \"program\": \"${workspaceFolder}/../../devel/lib/sm_atomic_mode_states/sm_atomic_mode_states_node\",\n \"args\": [\"__name:=sm_fetch_six_table_pick_n_sort_1_node\"],\n \"stopAtEntry\": false,\n \"cwd\": \"${workspaceFolder}\",\n \"environment\": [],\n \"console\": \"externalTerminal\",\n \"MIMode\": \"gdb\",\n \"setupCommands\": [\n {\n \"description\": \"Enable pretty-printing for gdb\",\n \"text\": \"-enable-pretty-printing\",\n \"ignoreFailures\": true\n }\n ]\n },\n {\n \"name\": \"(gdb) smacc_rta\",\n \"type\": \"cppdbg\",\n \"request\": \"launch\",\n \"program\": \"${workspaceFolder}/../build/smacc_rta/smacc_rta\",\n \"args\": [\"__name:=smacc_rta\"],\n \"stopAtEntry\": false,\n \"cwd\": \"${workspaceFolder}\",\n \"environment\": [],\n \"console\": \"externalTerminal\",\n \"MIMode\": \"gdb\",\n \"setupCommands\": [\n {\n \"description\": \"Enable pretty-printing for gdb\",\n \"text\": \"-enable-pretty-printing\",\n \"ignoreFailures\": true\n }\n ]\n },\n {\n \"name\": \"Smacc Viewer\",\n \"type\": \"python\",\n \"request\": \"launch\",\n \"program\": \"${workspaceFolder}/src/SMACC_Viewer/smacc_viewer/scripts/smacc_viewer_node.py\",\n \"console\": \"integratedTerminal\"\n }\n ]\n}\n"
},
{
"path": "LICENSE.txt",
"content": "BSD 3-Clause License\n\nCopyright (c) Reelrobotix, Inc.\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or without\nmodification, are permitted provided that the following conditions are met:\n\n* Redistributions of source code must retain the above copyright notice, this\n list of conditions and the following disclaimer.\n\n* Redistributions in binary form must reproduce the above copyright notice,\n this list of conditions and the following disclaimer in the documentation\n and/or other materials provided with the distribution.\n\n* Neither the name of the copyright holder nor the names of its\n contributors may be used to endorse or promote products derived from\n this software without specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\nDISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE\nFOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL\nDAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR\nSERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\nCAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,\nOR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE\nOF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n"
},
{
"path": "README.md",
"content": "\n## Continuous Integration:\n\n\n| ROS Distro | Code Format & Quality | Documentation | Binary Packages |\n| :-----------: | :-----------: | :-----------: | :-----------: |\n| Melodic | [](https://github.com/robosoft-ai/SMACC/actions/workflows/code_quality.yml) | [](https://github.com/robosoft-ai/SMACC/actions/workflows/doxygen.yml)
doxygen|[](https://build.ros.org/job/Mdev__smacc__ubuntu_bionic_amd64/)
[](http://wiki.ros.org/Distributions)
[SMACC](https://index.ros.org/p/smacc/github-robosoft-ai-smacc/#melodic)|\n| Noetic | [](https://github.com/robosoft-ai/SMACC/actions/workflows/code_quality.yml) | [](https://github.com/robosoft-ai/SMACC/actions/workflows/doxygen.yml)
doxygen| [](https://build.ros.org/job/Ndev__smacc__ubuntu_focal_amd64/)
[](https://github.com/robosoft-ai/smacc/actions/workflows/bloom_release.yml)
[SMACC](https://index.ros.org/p/smacc/github-robosoft-ai-smacc/#noetic)|\n\n## Docker Containers\n\n[](https://hub.docker.com/r/pabloinigoblasco/smacc/) [](https://hub.docker.com/r/pabloinigoblasco/smacc/) [](https://registry.hub.docker.com/pabloinigoblasco/smacc/)\n\n\n# ![](\"http://smacc.dev/wp-content/uploads/2019/07/SMACC-Logo-Pixelate-4-copy.png\")
SMACC\n\nSMACC is an event-driven, asynchronous, behavioral state machine library for real-time ROS (Robotic Operating System) applications written in C++, designed to allow programmers to build robot control applications for multicomponent robots, in an intuitive and systematic manner.\n\nSMACC was inspired by Harel's statecharts and the [SMACH ROS package](http://wiki.ros.org/smach). SMACC is built on top of the [Boost StateChart library](https://www.boost.org/doc/libs/1_53_0/libs/statechart/doc/index.html).\n\n\n## Features\n * ***Powered by ROS:*** SMACC has been developed specifically to work with ROS. It supports ROS topics, services and actions, right out of the box.\n * ***Written in C++:*** Until now, ROS has lacked a library to develop task-level behavioral state machines in C++. Although libraries have been developed in scripting languages such as python, these are unsuitable for real-world industrial environments where real-time requirements are demanded.\n * ***Orthogonals:*** Originally conceived by David Harel in 1987, orthogonality is absolutely crucial to developing state machines for complex robotic systems. This is because complex robots are always a collection of hardware devices which require communication protocols, start-up determinism, etc. With orthogonals, it is an intuitive and relatively straight forward exercise (at least conceptually;) to code a state machine for a robot comprising a mobile base, a robotic arm, a gripper, two lidar sensors, a gps transceiver and an imu, for instance.\n * ***Static State Machine Checking:*** One of the features that SMACC inherits from Boost Statechart is that you get compile time validation checking. This benefits developers in that the amount of runtime testing necessary to ship quality software that is both stable and safe is dramatically reduced. Our philosophy is \"Wherever possible, let the compiler do it\".\n * ***State Machine Reference Library:*** With a constantly growing library of out-of-the-box reference state machines, (found in the folder [sm_reference_library](https://github.com/robosoft-ai/SMACC/tree/master/smacc_sm_reference_library)) guaranteed to compile and run, you can jumpstart your development efforts by choosing a reference machine that is closest to your needs, and then customize and extend to meet the specific requirements of your robotic application. All the while knowing that the library supports advanced functionalities that are practically universal among actual working robots.\n * ***SMACC Client Library:*** SMACC also features a constantly growing library of [clients](https://github.com/robosoft-ai/SMACC/tree/master/smacc_client_library) that support ROS Action Servers, Service Servers and other nodes right out-of-the box. The clients within the SMACC Client library have been built utilizing a component based architecture that allows for developer to build powerful clients of their own. Current clients of note include MoveBaseZ, a full featured Action Client built to integrate with the ROS Navigation stack, the ros_timer_client, the multi_role_sensor_client, and a keyboard_client used extensively for state machine drafting & debugging.\n * ***Extensive Documentation:*** Although many ROS users are familiar with doxygen, our development team has spent a lot of time researching the more advanced features of doxygen such as uml style class diagrams and call graphs, and we've used them to document the SMACC library. Have a look to [our doxygen sites](https://robosoft-ai.github.io/smacc_doxygen/master/html/namespaces.html) and we think you'll be blown away at what Doxygen looks like when [it's done right](https://robosoft-ai.github.io/smacc_doxygen/master/html/classsmacc_1_1ISmaccStateMachine.html) and it becomes a powerful tool to research a codebase.\n * ***SMACC1 Runtime Analyzer:*** The SMACC library for ROS1 works out of the box with the SMACC1 RTA. This allows developers to visualize and runtime debug the state machines they are working on. The SMACC1 RTA is closed source, but is free for individual and academic use. It can be found [here](https://robosoft.ai/product-category/smacc1-runtime-analyzer/), along with installation instructions which can be found [here](https://robosoft.ai/smacc1_rta-installation/).\n\n\n## SMACC applications\nFrom it's inception, SMACC was written to support the programming of multi-component, complex robots. If your project involves small, solar-powered insect robots, that simply navigate towards a light source, then SMACC might not be the right choice for you. But if you are trying to program a robot with a mobile base, a robotic arm, a gripper, two lidar sensors, a gps transceiver and an imu, then you've come to the right place.\n\n\n## Getting Started\nThe easiest way to get started is by selecting one of the state machines in our [reference library](https://github.com/robosoft-ai/SMACC/tree/master/smacc_sm_reference_library), and then hacking it to meet your needs.\n\nEach state machine in the reference library comes with it's own README.md file, which contains the appropriate operating instructions, so that all you have to do is simply copy & paste some commands into your terminal.\n\n\n * If you are looking for a minimal example, we recommend [sm_atomic](https://github.com/robosoft-ai/SMACC/tree/master/smacc_sm_reference_library/sm_atomic).\n\n * If you are looking for a slightly more complicated, but still very simple example, try [sm_calendar_week](https://github.com/robosoft-ai/SMACC/tree/master/smacc_sm_reference_library/sm_calendar_week).\n\n * If you are looking for a minimal example but with a looping superstate, try [sm_three_some](https://github.com/robosoft-ai/SMACC/tree/master/smacc_sm_reference_library/sm_three_some).\n\n * If you want to get started with the ROS Navigation stack right away, try [sm_dance_bot](https://github.com/robosoft-ai/SMACC/tree/master/smacc_sm_reference_library/sm_dance_bot).\n\n * If you want to get started with ROS Navigation and exploring the orthogonal read-write cycle, then try [sm_dance_bot_strikes_back](https://github.com/robosoft-ai/SMACC/tree/master/smacc_sm_reference_library/sm_dance_bot_strikes_back).\n\n\nOperating instructions can be found in each reference state machines readme file.\nHappy Coding.\n\n## Support\nIf you are interested in getting involved or need a little support, feel free to contact us by emailing brett@robosoft.ai\n"
},
{
"path": "smacc/CHANGELOG.rst",
"content": "^^^^^^^^^^^^^^^^^^^^^^^^^^^\nChangelog for package smacc\n^^^^^^^^^^^^^^^^^^^^^^^^^^^\n\nForthcoming\n-----------\n\n* Progressing on transition log\n* dynamic behavior\n* progress on viewer, modestates and history mode\n* smacc megastate example\n* missing changes on previous commit\n* more improvements on status message on the viewer and the smacc core\n* some stable version of the viewer, code cleaning, fixes on dancebot\n* progress in the viewer, creating a new concept of transition tag\n* progress in the viewer\n* SMACC improvements on the viewer and loop branching funcionality\n* progressing in the smacc viewer\n* fixing logic units event source information\n* progressing in viewer and metainformation\n* progressing in the viewer and adding more metaknoledge about triggering events of logic units\n* progress in the viewer and examples\n* fixing eveng aggregator compilation issue\n* more fixings and progressing to the smacc_viewer\n* recurrent pattern for sensors and substate behaviors\n* template recurrent pattern, string type walker, showing string for smacc viewer\n* adding transition file\n* moving behavior creation of sm_dance_bot to static staticConfigure\n* action client moving to event convention Ev\n* logic units, better output of the state machine knowledge at the startup\n* StateTransition info structure\n* creating static staticConfigure functionality\n* removing obsolete state funcionality\n* broken build orthogonal fix\n* changes on architecture, orthogonal role, client role and component role changes, fixing all examples\n* adding service client\n* smacc_msgs dependencies\n* smacc_msgs dependencies\n* gh-pages travis\n* ff pattern and spattern first implementation\n* fixing build\n* testing status message, creation of rviz display plugin, refactoring of sm_dance_bot.launch to make it lightweight, readme.md for launching\n* adding SmaccStatus message funcionality\n* PackML inspired funcionalities for SM: stop, estop, reset\n* several improvements: adding topicPublisherClient, fixing install build, further testing of sm_dance_bot on install workspace\n* adding publisher client\n* working on fixing travis build\n* working on fixing travis\n* superstates improving the viewer for the dance_bot\n* many core fixes and refactorings, substate behavior destroying, dance_bot keyboard separated in two files, topic sensor separated in two files too for the client and the substate behavior\n* progressing on keyboard\n* introducing the client concept and moving smacc topic subscriber to the smacc 'core' package\n* ClMultiroleSensor and TopicSubscriber\n* detaching substatebehaviors from component and renaming class refactoring\n* making smacc_viewer run and also refactoring smacc_state_info headers\n* Merge branch 'master' of https://github.com/robosoft-ai/SMACC\n* minor changes\n* Minor commenting edits\n* more improvements on sensor topics keyboard events, and architecture improvements\n* refactoring smacc substate behaviors and states\n* changes on code\n* better rosout and some progress on sm_dance_bot and fixing travis build\n* runtime testing of examples\n* hard renaming - namming convention - initial integration of smach_viewer\n* Folder Renaming\n* SMACC building\n* Merge branch 'master' of https://github.com/robosoft-ai/SMACC\n* fixing smacc for melodic\n* c++11 for indigo in some projects\n* Merge branch 'master' into indigo-devel\n* removing boost demangle dependency to make build indigo\n* makin build SMACC for indigo\n* Merge branch 'master' into indigo-devel\n* merge on melodic\n* updating backward and forward local planners\n* Merge remote-tracking branch 'origin/master' into melodic-devel\n* Merge branch 'master' into indigo-devel\n* updating cmakelists\n* Merge branch 'master' of https://github.com/pabloinigoblasco/SMACC\n* Merge pull request `#1 `_ from robosoft-ai/master\n merging\n* smacc improvements\n* minor\n* navigation improvements and syntax improvements in example\n* final waypoints tests\n* progress on waypoints\n* renaming getglobalData setGlobalData\n* authory in code files and more in documentation\n* important refactoring and fixes, and the creation of the radial_motion example\n* syntax improvement to remove the context from smacc code\n* adapting to the smacc requiresComponent method refactoring\n* refactoring smacc to support other kind of plugins beyond actionclients, such as the odom tracker, also ading a custom radial_motion_example independent to the reel\n* refactoring SMACC to contain navigation plugins\n* adding planners to SMACC\n* package version\n* package.xml format\n* adding feedback message information to feedback events\n* syntax improvement for better action result reaction\n* some refactoring on smacc code\n* more on documentation\n* fixing ros parameters\n* Tool orthogonal line and wiki documentation\n* cleaning and refactoring smacc library\n* adding tool orthogonal line\n* Adapting to smacc feedback message improvemnts. Now, the transitions reacts on these action feedback messages, instead of action results\n* minor changes on radial motion sample\n* feedback message support\n* refactoring, renamings, documenting smacc\n* some more on style\n* more comments and style\n* some more comments\n* large refactoring of the smacc example code and comments\n* minor\n* initial version of radial motion example\n* going forward to radial example\n* minor to show some example\n* going forward to smacc\n* minor fixes\n* initials on smacc\n* Moved SMACC to it's own repo..\n* Contributors: Pablo Inigo Blasco, Pablo Iñigo Blasco, brett2@robosoft-ai.com, brettpac, travis\n"
},
{
"path": "smacc/CMakeLists.txt",
"content": "cmake_minimum_required(VERSION 3.8)\nproject(smacc)\n\n## Compile as C++11, supported in ROS Kinetic and newer\n# add_compile_options(-std=c++11)\n\n## Find catkin macros and libraries\n## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\n## is used, also find other catkin packages\nfind_package(catkin REQUIRED COMPONENTS\n actionlib\n roscpp\n pluginlib\n smacc_msgs\n controller_manager_msgs\n)\n\n\n################################################\n## Declare ROS messages, services and actions ##\n################################################\n\n\n################################################\n## Declare ROS dynamic reconfigure parameters ##\n################################################\n\n###################################\n## catkin specific configuration ##\n###################################\n\ncatkin_package(\n INCLUDE_DIRS include\n LIBRARIES smacc\n CATKIN_DEPENDS actionlib roscpp smacc_msgs controller_manager_msgs smacc_msgs message_runtime\n# DEPENDS system_lib\n)\n\n###########\n## Build ##\n###########\n\nSET(CMAKE_CXX_STANDARD 14)\nadd_compile_options(-std=c++11) #workaround for ubuntu 16.04, to extinguish\n\n## Specify additional locations of header files\n## Your package locations should be listed before other locations\ninclude_directories(\n include\n ${catkin_INCLUDE_DIRS}\n)\n\nfile(GLOB_RECURSE ${PROJECT_NAME}_IncludeFilesPaths \"*.h\")\nadd_custom_target(${PROJECT_NAME}_IncludeFilesTarget SOURCES ${${PROJECT_NAME}_IncludeFilesPaths})\n\n# sources\nfile(GLOB_RECURSE SRC_FILES \"src/smacc/*.cpp\" \"src/smacc/introspection/*.cpp\" \"src/smacc/state_reactors/*.cpp\") # opcionalmente GLOB\n\nadd_library(${PROJECT_NAME} ${SRC_FILES})\n\n## Add cmake target dependencies of the executable\n## same as for the library above\nadd_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\n\n## Specify libraries to link a library or executable target against\ntarget_link_libraries(${PROJECT_NAME}\n ${catkin_LIBRARIES}\n )\n\n#############\n## Install ##\n#############\n\n## Mark executables and/or libraries for installation\ninstall(TARGETS ${PROJECT_NAME}\n ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n)\n\n## Mark cpp header files for installation\ninstall(DIRECTORY include/${PROJECT_NAME}/\n DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\n FILES_MATCHING PATTERN \"*.h\"\n PATTERN \".svn\" EXCLUDE\n)\n\n#############\n## Testing ##\n#############\n"
},
{
"path": "smacc/include/smacc/callback_counter_semaphore.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\nnamespace smacc\n{\nclass CallbackCounterSemaphore {\npublic:\n CallbackCounterSemaphore(std::string name, int count = 0);\n bool acquire();\n\n void release();\n\n void finalize();\n\n void addConnection(boost::signals2::connection conn);\n\nprivate:\n int count_;\n std::mutex mutex_;\n std::condition_variable cv_;\n std::vector connections_;\n bool finalized = false;\n std::string name_;\n};\n}\n"
},
{
"path": "smacc/include/smacc/client_base_components/cp_ros_control_interface.h",
"content": "#pragma once\n#include \n#include \n\nnamespace smacc\n{\nnamespace components\n{\nstruct ControllerTypeInfo\n{\n std::string type;\n std::string baseClass;\n};\n\nenum Strictness\n{\n BEST_EFFORT = 1,\n STRICT = 2\n};\n\nclass CpRosControlInterface : public smacc::ISmaccComponent\n{\npublic:\n CpRosControlInterface();\n\n virtual ~CpRosControlInterface();\n\n virtual void onInitialize() override;\n\n // template \n // void onOrthogonalAllocation() {}\n\n std::vector listControllerTypes();\n\n std::vector listControllers();\n\n bool loadController(std::string name);\n\n bool unloadController(std::string name);\n\n bool reloadControllerLibraries(bool forceKill);\n\n bool switchControllers(std::vector start_controllers,\n std::vector stop_controllers,\n Strictness strictness);\n\n boost::optional serviceName_;\n\nprivate:\n ros::NodeHandle nh_;\n\n ros::ServiceClient srvListControllers;\n ros::ServiceClient srvListControllersTypes;\n ros::ServiceClient srvLoadController;\n ros::ServiceClient srvReloadControllerLibraries;\n ros::ServiceClient srvSwitchControllers;\n ros::ServiceClient srvUnloadController;\n};\n}\n}\n"
},
{
"path": "smacc/include/smacc/client_base_components/cp_topic_subscriber.h",
"content": "#pragma once\n#include \n#include \n#include \n#include \n\nnamespace smacc\n{\nnamespace components\n{\n\nusing namespace smacc::default_events;\n\ntemplate \nclass CpTopicSubscriber : public smacc::ISmaccComponent\n{\npublic:\n boost::optional topicName;\n boost::optional queueSize;\n\n typedef MessageType TMessageType;\n\n CpTopicSubscriber()\n {\n initialized_ = false;\n }\n\n CpTopicSubscriber(std::string topicname)\n {\n topicName = topicname;\n }\n\n virtual ~CpTopicSubscriber()\n {\n sub_.shutdown();\n }\n\n smacc::SmaccSignal onFirstMessageReceived_;\n smacc::SmaccSignal onMessageReceived_;\n\n std::function postMessageEvent;\n std::function postInitialMessageEvent;\n\n template \n boost::signals2::connection onMessageReceived(void (T::*callback)(const MessageType &), T *object)\n {\n return this->getStateMachine()->createSignalConnection(onMessageReceived_, callback, object);\n }\n\n template \n boost::signals2::connection onFirstMessageReceived(void (T::*callback)(const MessageType &), T *object)\n {\n return this->getStateMachine()->createSignalConnection(onFirstMessageReceived_, callback, object);\n }\n\n template \n void onOrthogonalAllocation()\n {\n this->postMessageEvent = [=](auto msg) {\n auto event = new EvTopicMessage();\n event->msgData = msg;\n this->postEvent(event);\n };\n\n this->postInitialMessageEvent = [=](auto msg) {\n auto event = new EvTopicInitialMessage();\n event->msgData = msg;\n this->postEvent(event);\n };\n }\n\n virtual void initialize()\n {\n if (!initialized_)\n {\n firstMessage_ = true;\n\n if (!queueSize)\n queueSize = 1;\n\n if (!topicName)\n {\n ROS_ERROR(\"topic client with no topic name set. Skipping subscribing\");\n }\n else\n {\n ROS_INFO_STREAM(\"[\" << this->getName() << \"] Subscribing to topic: \" << topicName);\n\n sub_ = nh_.subscribe(*topicName, *queueSize, &CpTopicSubscriber::messageCallback, this);\n this->initialized_ = true;\n }\n }\n }\n\nprotected:\n ros::NodeHandle nh_;\n\nprivate:\n ros::Subscriber sub_;\n bool firstMessage_;\n bool initialized_;\n\n void messageCallback(const MessageType &msg)\n {\n if (firstMessage_)\n {\n postInitialMessageEvent(msg);\n onFirstMessageReceived_(msg);\n firstMessage_ = false;\n }\n\n postMessageEvent(msg);\n onMessageReceived_(msg);\n }\n};\n}\n}\n"
},
{
"path": "smacc/include/smacc/client_bases/smacc_action_client.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n\n#include \n#include \n#include \n\nnamespace smacc\n{\nnamespace client_bases\n{\n using namespace actionlib;\n\n // This class interface shows the basic set of methods that\n // a SMACC \"resource\" or \"plugin\" Action Client has\n class ISmaccActionClient : public ISmaccClient\n {\n public:\n ISmaccActionClient();\n\n // The destructor. This is called when the object is not\n // referenced anymore by its owner\n virtual ~ISmaccActionClient();\n\n // Gets the ros path of the action...\n inline std::string getNamespace() const\n {\n return name_;\n }\n\n virtual void cancelGoal() = 0;\n\n virtual SimpleClientGoalState getState() = 0;\n\n protected:\n // The ros path where the action server is located\n std::string name_;\n };\n} // namespace smacc\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/client_bases/smacc_action_client_base.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n\n#include \n#include \n\n#include \n\nnamespace smacc\n{\nnamespace client_bases\n{\nusing namespace smacc::default_events;\n\ntemplate \nclass SmaccActionClientBase : public ISmaccActionClient\n{\npublic:\n // Inside this macro you can find the typedefs for Goal and other types\n ACTION_DEFINITION(ActionType);\n typedef actionlib::SimpleActionClient ActionClient;\n typedef actionlib::SimpleActionClient GoalHandle;\n\n typedef typename ActionClient::SimpleDoneCallback SimpleDoneCallback;\n typedef typename ActionClient::SimpleActiveCallback SimpleActiveCallback;\n typedef typename ActionClient::SimpleFeedbackCallback SimpleFeedbackCallback;\n\n SmaccActionClientBase(std::string actionServerName)\n : ISmaccActionClient(),\n name_(actionServerName)\n {\n }\n\n SmaccActionClientBase()\n : ISmaccActionClient(),\n name_(\"\")\n {\n }\n\n static std::string getEventLabel()\n {\n auto type = TypeInfo::getTypeInfoFromType();\n return type->getNonTemplatedTypeName();\n }\n\n virtual ~SmaccActionClientBase()\n {\n }\n\n /// rosnamespace path\n std::string name_;\n\n virtual void initialize() override\n {\n client_ = std::make_shared(name_);\n }\n\n smacc::SmaccSignal onSucceeded_;\n smacc::SmaccSignal onAborted_;\n smacc::SmaccSignal onPreempted_;\n smacc::SmaccSignal onRejected_;\n\n // event creation/posting factory functions\n std::function postSuccessEvent;\n std::function postAbortedEvent;\n std::function postPreemptedEvent;\n std::function postRejectedEvent;\n\n std::function postFeedbackEvent;\n\n SimpleDoneCallback done_cb;\n SimpleActiveCallback active_cb;\n SimpleFeedbackCallback feedback_cb;\n\n template \n void postResultEvent(ResultConstPtr result)\n {\n auto *ev = new EvType();\n //ev->client = this;\n ev->resultMessage = *result;\n ROS_INFO(\"Posting EVENT %s\", demangleSymbol(typeid(ev).name()).c_str());\n this->postEvent(ev);\n }\n\n template \n void onOrthogonalAllocation()\n {\n // we create here all the event factory functions capturing the TOrthogonal\n postSuccessEvent = [=](auto msg) { this->postResultEvent>(msg); };\n postAbortedEvent = [=](auto msg) { this->postResultEvent>(msg); };\n postPreemptedEvent = [=](auto msg) { this->postResultEvent>(msg); };\n postRejectedEvent = [=](auto msg) { this->postResultEvent>(msg); };\n postFeedbackEvent = [=](auto msg) {\n auto actionFeedbackEvent = new EvActionFeedback();\n actionFeedbackEvent->client = this;\n actionFeedbackEvent->feedbackMessage = *msg;\n this->postEvent(actionFeedbackEvent);\n ROS_DEBUG(\"[%s] FEEDBACK EVENT\", demangleType(typeid(*this)).c_str());\n };\n\n done_cb = boost::bind(&SmaccActionClientBase::onResult, this, _1, _2);\n //active_cb;\n feedback_cb = boost::bind(&SmaccActionClientBase::onFeedback, this, _1);\n }\n\n template \n boost::signals2::connection onSucceeded(void (T::*callback)(ResultConstPtr &), T *object)\n {\n return this->getStateMachine()->createSignalConnection(onSucceeded_, callback, object);\n }\n\n template \n boost::signals2::connection onSucceeded(std::function callback)\n {\n return this->getStateMachine()->createSignalConnection(onSucceeded_, callback);\n }\n\n template \n boost::signals2::connection onAborted(void (T::*callback)(ResultConstPtr &), T *object)\n {\n return this->getStateMachine()->createSignalConnection(onAborted_, callback, object);\n }\n\n template \n boost::signals2::connection onAborted(std::function callback)\n {\n return this->getStateMachine()->createSignalConnection(onAborted_, callback);\n }\n\n template \n boost::signals2::connection onPreempted(void (T::*callback)(ResultConstPtr &), T *object)\n {\n return this->getStateMachine()->createSignalConnection(onPreempted_, callback, object);\n }\n\n template \n boost::signals2::connection onPreempted(std::function callback)\n {\n return this->getStateMachine()->createSignalConnection(onPreempted_, callback);\n }\n\n template \n boost::signals2::connection onRejected(void (T::*callback)(ResultConstPtr &), T *object)\n {\n return this->getStateMachine()->createSignalConnection(onRejected_, callback, object);\n }\n\n template \n boost::signals2::connection onRejected(std::function callback)\n {\n return this->getStateMachine()->createSignalConnection(onRejected_, callback);\n }\n\n virtual void cancelGoal() override\n {\n if (client_->isServerConnected())\n {\n ROS_INFO(\"Cancelling goal of %s\", this->getName().c_str());\n client_->cancelGoal();\n }\n else\n {\n ROS_ERROR(\"%s [at %s]: not connected with actionserver, skipping cancel goal ...\", getName().c_str(), getNamespace().c_str());\n }\n }\n\n virtual SimpleClientGoalState getState() override\n {\n return client_->getState();\n }\n\n void sendGoal(Goal &goal)\n {\n ROS_INFO_STREAM(\"[ActionClient<\"<< demangledTypeName() <<\">] Sending goal to actionserver located in \" << this->name_ << \"\\\"\");\n\n if (client_->isServerConnected())\n {\n ROS_INFO_STREAM(getName() << \": Goal Value: \" << std::endl\n << goal);\n client_->sendGoal(goal, done_cb, active_cb, feedback_cb);\n }\n else\n {\n ROS_ERROR(\"%s [at %s]: not connected with actionserver, skipping goal request ...\", getName().c_str(), getNamespace().c_str());\n //client_->waitForServer();\n }\n }\n\nprotected:\n std::shared_ptr client_;\n\n void onFeedback(const FeedbackConstPtr &feedback_msg)\n {\n postFeedbackEvent(feedback_msg);\n }\n\n void onResult(const SimpleClientGoalState &state, const ResultConstPtr &result_msg)\n {\n // auto *actionResultEvent = new EvActionResult();\n // actionResultEvent->client = this;\n // actionResultEvent->resultMessage = *result_msg;\n\n const auto &resultType = this->getState();\n ROS_INFO(\"[%s] request result: %s\", this->getName().c_str(), resultType.toString().c_str());\n\n if (resultType == actionlib::SimpleClientGoalState::SUCCEEDED)\n {\n ROS_INFO(\"[%s] request result: Success\", this->getName().c_str());\n onSucceeded_(result_msg);\n postSuccessEvent(result_msg);\n }\n else if (resultType == actionlib::SimpleClientGoalState::ABORTED)\n {\n ROS_INFO(\"[%s] request result: Aborted\", this->getName().c_str());\n onAborted_(result_msg);\n postAbortedEvent(result_msg);\n }\n else if (resultType == actionlib::SimpleClientGoalState::REJECTED)\n {\n ROS_INFO(\"[%s] request result: Rejected\", this->getName().c_str());\n onRejected_(result_msg);\n postRejectedEvent(result_msg);\n }\n else if (resultType == actionlib::SimpleClientGoalState::PREEMPTED)\n {\n ROS_INFO(\"[%s] request result: Preempted\", this->getName().c_str());\n onPreempted_(result_msg);\n postPreemptedEvent(result_msg);\n }\n else\n {\n ROS_INFO(\"[%s] request result: NOT HANDLED TYPE: %s\", this->getName().c_str(), resultType.toString().c_str());\n }\n }\n};\n\n#define SMACC_ACTION_CLIENT_DEFINITION(ActionType) ACTION_DEFINITION(ActionType); typedef smacc::client_bases::SmaccActionClientBase Base;\n} // namespace client_bases\n\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/client_bases/smacc_publisher_client.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n\n#include \n#include \n\nnamespace smacc\n{\nnamespace client_bases\n{\nclass SmaccPublisherClient : public smacc::ISmaccClient\n{\npublic:\n boost::optional topicName;\n boost::optional queueSize;\n\n SmaccPublisherClient()\n {\n initialized_ = false;\n }\n\n virtual ~SmaccPublisherClient()\n {\n pub_.shutdown();\n }\n\n template \n void configure(std::string topicName)\n {\n this->topicName = topicName;\n if (!initialized_)\n {\n if (!this->topicName)\n {\n ROS_ERROR(\"topic publisher with no topic name set. Skipping advertising.\");\n return;\n }\n if (!queueSize)\n queueSize = 1;\n\n ROS_INFO_STREAM(\"[\" << this->getName() << \"] Client Publisher to topic: \" << topicName);\n pub_ = nh_.advertise(*(this->topicName), *queueSize);\n\n this->initialized_ = true;\n }\n }\n\n template \n void publish(const MessageType &msg)\n {\n pub_.publish(msg);\n }\n\nprotected:\n ros::NodeHandle nh_;\n ros::Publisher pub_;\n\nprivate:\n bool initialized_;\n};\n} // namespace client_bases\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/client_bases/smacc_service_client.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n\n#include \n#include \n\nnamespace smacc\n{\nnamespace client_bases\n{\ntemplate \nclass SmaccServiceClient : public smacc::ISmaccClient\n{\npublic:\n boost::optional serviceName_;\n\n SmaccServiceClient()\n {\n initialized_ = false;\n }\n SmaccServiceClient(std::string service_name)\n {\n serviceName_ = service_name;\n initialized_ = false;\n }\n\n virtual void initialize() override\n {\n if (!initialized_)\n {\n if (!serviceName_)\n {\n ROS_ERROR(\"service client with no service name set. Skipping.\");\n }\n else\n {\n ROS_INFO_STREAM(\"[\" << this->getName() << \"] Client Service: \" << *serviceName_);\n this->initialized_ = true;\n\n client_ = nh_.serviceClient(*serviceName_);\n }\n }\n }\n\n bool call(ServiceType &srvreq)\n {\n return client_.call(srvreq);\n }\n\nprotected:\n ros::NodeHandle nh_;\n ros::ServiceClient client_;\n bool initialized_;\n};\n} // namespace client_bases\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/client_bases/smacc_service_server_client.h",
"content": "#pragma once\n\n#include \n#include \n#include \n\n#include \n\nnamespace smacc {\nnamespace client_bases {\ntemplate \nclass SmaccServiceServerClient : public smacc::ISmaccClient {\n using TServiceRequest = typename TService::Request;\n using TServiceResponse = typename TService::Response;\n\n public:\n boost::optional serviceName_;\n SmaccServiceServerClient() { initialized_ = false; }\n SmaccServiceServerClient(std::string service_name) {\n serviceName_ = service_name;\n initialized_ = false;\n }\n\n virtual ~SmaccServiceServerClient() { server_.shutdown(); }\n\n smacc::SmaccSignal)>\n onServiceRequestReceived_;\n\n template \n boost::signals2::connection onServiceRequestReceived(\n void (T::*callback)(TServiceRequest&, std::shared_ptr),\n T* object) {\n return this->getStateMachine()->createSignalConnection(\n onServiceRequestReceived_, callback, object);\n }\n\n virtual void initialize() override {\n if (!initialized_) {\n if (!serviceName_) {\n ROS_ERROR(\"service server with no service name set. Skipping.\");\n } else {\n ROS_INFO_STREAM(\"[\" << this->getName()\n << \"] Client Service: \" << serviceName_);\n\n server_ = nh_.advertiseService(\n *serviceName_, &SmaccServiceServerClient::serviceCallback,\n this);\n this->initialized_ = true;\n }\n }\n }\n\n protected:\n ros::NodeHandle nh_;\n\n private:\n bool serviceCallback(TServiceRequest& req, TServiceResponse& res)\n {\n std::shared_ptr response{new TServiceResponse};\n onServiceRequestReceived_(req, response);\n res = *response;\n return true;\n }\n ros::ServiceServer server_;\n bool initialized_;\n};\n} // namespace client_bases\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/client_bases/smacc_subscriber_client.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n\n#include \n#include \n#include \n\nnamespace smacc\n{\n\nnamespace client_bases\n{\n\nusing namespace smacc::default_events;\n\ntemplate \nclass SmaccSubscriberClient : public smacc::ISmaccClient\n{\npublic:\n boost::optional topicName;\n boost::optional queueSize;\n\n typedef MessageType TMessageType;\n\n SmaccSubscriberClient()\n {\n initialized_ = false;\n }\n\n SmaccSubscriberClient(std::string topicname)\n {\n topicName = topicname;\n }\n\n virtual ~SmaccSubscriberClient()\n {\n sub_.shutdown();\n }\n\n smacc::SmaccSignal onFirstMessageReceived_;\n smacc::SmaccSignal onMessageReceived_;\n\n std::function postMessageEvent;\n std::function postInitialMessageEvent;\n\n template \n boost::signals2::connection onMessageReceived(void (T::*callback)(const MessageType &), T *object)\n {\n return this->getStateMachine()->createSignalConnection(onMessageReceived_, callback, object);\n }\n\n template \n boost::signals2::connection onFirstMessageReceived(void (T::*callback)(const MessageType &), T *object)\n {\n return this->getStateMachine()->createSignalConnection(onFirstMessageReceived_, callback, object);\n }\n\n template \n void onOrthogonalAllocation()\n {\n this->postMessageEvent = [=](auto msg) {\n auto event = new EvTopicMessage();\n event->msgData = msg;\n this->postEvent(event);\n };\n\n this->postInitialMessageEvent = [=](auto msg) {\n auto event = new EvTopicInitialMessage();\n event->msgData = msg;\n this->postEvent(event);\n };\n }\n\n virtual void initialize()\n {\n if (!initialized_)\n {\n firstMessage_ = true;\n\n if (!queueSize)\n queueSize = 1;\n\n if (!topicName)\n {\n ROS_ERROR(\"topic client with no topic name set. Skipping subscribing\");\n }\n else\n {\n ROS_INFO_STREAM(\"[\" << this->getName() << \"] Subscribing to topic: \" << topicName);\n\n sub_ = nh_.subscribe(*topicName, *queueSize, &SmaccSubscriberClient::messageCallback, this);\n this->initialized_ = true;\n }\n }\n }\n\nprotected:\n ros::NodeHandle nh_;\n\nprivate:\n ros::Subscriber sub_;\n bool firstMessage_;\n bool initialized_;\n\n void messageCallback(const MessageType &msg)\n {\n if (firstMessage_)\n {\n postInitialMessageEvent(msg);\n onFirstMessageReceived_(msg);\n firstMessage_ = false;\n }\n\n onMessageReceived_(msg);\n postMessageEvent(msg);\n }\n};\n} // namespace client_bases\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/client_behavior_bases/cb_service_server_callback_base.h",
"content": "#pragma once\n#include \n\nnamespace smacc {\ntemplate \nclass CbServiceServerCallbackBase : public smacc::SmaccClientBehavior {\n public:\n virtual void onEntry() override {\n this->requiresClient(attachedClient_);\n attachedClient_->onServiceRequestReceived(\n &CbServiceServerCallbackBase::onServiceRequestReceived, this);\n }\n\n virtual void onServiceRequestReceived(typename TService::Request& req,\n std::shared_ptr res) = 0;\n\n protected:\n smacc::client_bases::SmaccServiceServerClient* attachedClient_ =\n nullptr;\n};\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/client_behavior_bases/cb_subscription_callback_base.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018-2021\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n#pragma once\n#include \n\nnamespace smacc\n{\ntemplate \nclass CbSubscriptionCallbackBase : public smacc::SmaccClientBehavior\n{\npublic:\n virtual void onEntry() override\n {\n this->requiresClient(attachedClient_);\n attachedClient_->onMessageReceived(&CbSubscriptionCallbackBase::onMessageReceived, this);\n }\n\n virtual void onMessageReceived(const TMsg& msg) = 0;\n\nprotected:\n smacc::client_bases::SmaccSubscriberClient* attachedClient_ = nullptr;\n};\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/common.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n#pragma once\n\n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n\n#include \n//#include \n\n#include \n#include \n#include \n\ntypedef boost::statechart::processor_container, boost::function0, std::allocator>::processor_context my_context;\nnamespace smacc\n{\n\nnamespace utils\n{\n// demangles the type name to be used as a node handle path\nstd::string cleanShortTypeName(const std::type_info &tinfo);\n} // namespace utils\n\nenum class SMRunMode\n{\n DEBUG,\n RELEASE\n};\n\n} // namespace smacc\n\n#include \n#include \n"
},
{
"path": "smacc/include/smacc/component.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n#pragma once\n\n#include \n#include \n\nnamespace smacc\n{\n\nclass ISmaccComponent\n{\npublic:\n ISmaccComponent();\n\n virtual ~ISmaccComponent();\n\n // Returns a custom identifier defined by the specific plugin implementation\n virtual std::string getName() const;\n\nprotected:\n\n virtual void initialize(ISmaccClient *owner);\n\n // Assigns the owner of this resource to the given state machine parameter object\n void setStateMachine(ISmaccStateMachine *stateMachine);\n\n template \n void postEvent(const EventType &ev);\n\n template \n void postEvent();\n\n template \n void onOrthogonalAllocation() {}\n\n template \n void requiresComponent(TComponent *& requiredComponentStorage);\n\n template \n void requiresClient(TClient *& requiredClientStorage);\n\n virtual void onInitialize();\n\n template \n SmaccComponentType *createSiblingComponent(TArgs... targs);\n\n template \n SmaccComponentType *createSiblingNamedComponent(std::string name, TArgs... targs);\n\n // A reference to the state machine object that owns this resource\n ISmaccStateMachine *stateMachine_;\n\n ISmaccClient *owner_;\n\n friend class ISmaccOrthogonal;\n friend class ISmaccClient;\n};\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/impl/smacc_asynchronous_client_behavior_impl.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n#include \n#include \n\nnamespace smacc\n{\n\n template \n void SmaccAsyncClientBehavior::onOrthogonalAllocation()\n {\n postFinishEventFn_ = [=] {\n this->onFinished_();\n this->postEvent>();\n };\n\n postSuccessEventFn_ = [=] {\n this->onSuccess_();\n this->postEvent>();\n };\n\n postFailureEventFn_ = [=] {\n this->onFailure_();\n this->postEvent>();\n };\n }\n\n template \n boost::signals2::connection SmaccAsyncClientBehavior::onSuccess(TCallback callback, T *object)\n {\n return this->getStateMachine()->createSignalConnection(onSuccess_, callback, object);\n }\n\n template \n boost::signals2::connection SmaccAsyncClientBehavior::onFinished(TCallback callback, T *object)\n {\n return this->getStateMachine()->createSignalConnection(onFinished_, callback, object);\n }\n\n template \n boost::signals2::connection SmaccAsyncClientBehavior::onFailure(TCallback callback, T *object)\n {\n return this->getStateMachine()->createSignalConnection(onFailure_, callback, object);\n }\n}\n"
},
{
"path": "smacc/include/smacc/impl/smacc_client_behavior_impl.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n#pragma once\n\n#include \n#include \n\nnamespace smacc\n{\n\ntemplate \nvoid ISmaccClientBehavior::postEvent(const EventType &ev)\n{\n if (stateMachine_ == nullptr)\n {\n ROS_ERROR(\"The client behavior cannot post events before being assigned to an orthogonal. Ignoring post event call.\");\n }\n else\n {\n stateMachine_->postEvent(ev, EventLifeTime::CURRENT_STATE);\n }\n}\n\ntemplate \nvoid ISmaccClientBehavior::postEvent()\n{\n if (stateMachine_ == nullptr)\n {\n ROS_ERROR(\"The client behavior cannot post events before being assigned to an orthogonal. Ignoring post event call.\");\n }\n else\n {\n\n stateMachine_->template postEvent(EventLifeTime::CURRENT_STATE);\n }\n}\n\n//inline\nISmaccStateMachine *ISmaccClientBehavior::getStateMachine()\n{\n return this->stateMachine_;\n}\n\n//inline\nISmaccState *ISmaccClientBehavior::getCurrentState()\n{\n return this->currentState;\n}\n\ntemplate \nvoid ISmaccClientBehavior::requiresClient(SmaccClientType *&storage)\n{\n currentOrthogonal->requiresClient(storage);\n}\n\ntemplate \nvoid ISmaccClientBehavior::requiresComponent(SmaccComponentType *&storage)\n{\n if (stateMachine_ == nullptr)\n {\n ROS_ERROR(\"Cannot use the requiresComponent funcionality before assigning the client behavior to an orthogonal. Try using the OnEntry method to capture required components.\");\n }\n else\n {\n stateMachine_->requiresComponent(storage);\n }\n}\n\ntemplate \nvoid ISmaccClientBehavior::onOrthogonalAllocation() {}\n\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/impl/smacc_client_impl.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n\n#include \n#include \n\nnamespace smacc\n{\n template \n void ISmaccClient::postEvent(const EventType &ev)\n {\n stateMachine_->postEvent(ev);\n }\n\n template \n void ISmaccClient::postEvent()\n {\n stateMachine_->postEvent();\n }\n\n template \n TComponent *ISmaccClient::getComponent()\n {\n return this->getComponent(std::string());\n }\n\n template \n TComponent *ISmaccClient::getComponent(std::string name)\n {\n for (auto &component : components_)\n {\n if (component.first.name != name)\n continue;\n\n auto *tcomponent = dynamic_cast(component.second.get());\n if (tcomponent != nullptr)\n {\n return tcomponent;\n }\n }\n\n return nullptr;\n }\n\n //inline\n ISmaccStateMachine *ISmaccClient::getStateMachine()\n {\n return this->stateMachine_;\n }\n\n template \n SmaccComponentType *ISmaccClient::createNamedComponent(std::string name, TArgs... targs)\n {\n ComponentKey componentkey(&typeid(SmaccComponentType), name);\n\n std::shared_ptr ret;\n\n auto it = this->components_.find(componentkey);\n\n if (it == this->components_.end())\n {\n auto tname = demangledTypeName();\n ROS_DEBUG(\"%s smacc component is required. Creating a new instance.\", tname.c_str());\n\n ret = std::shared_ptr(new SmaccComponentType(targs...));\n ret->setStateMachine(this->getStateMachine());\n ret->owner_ = this;\n ret->initialize(this);\n\n this->components_[componentkey] = ret; //std::dynamic_pointer_cast(ret);\n ROS_DEBUG(\"%s resource is required. Done.\", tname.c_str());\n }\n else\n {\n ROS_DEBUG(\"%s resource is required. Found resource in cache.\", demangledTypeName().c_str());\n ret = dynamic_pointer_cast(it->second);\n }\n\n ret->template onOrthogonalAllocation();\n\n return ret.get();\n }\n\n template \n SmaccComponentType *ISmaccClient::createComponent(TArgs... targs)\n {\n return this->createNamedComponent(std::string(), targs...);\n }\n\n template \n void ISmaccClient::connectSignal(TSmaccSignal &signal, void (T::*callback)(), T *object)\n {\n return this->getStateMachine()->createSignalConnection(signal, callback, object);\n }\n\n template \n void ISmaccClient::requiresClient(SmaccClientType *&storage)\n {\n this->orthogonal_->requiresClient(storage);\n }\n\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/impl/smacc_component_impl.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n\n#include \n#include \n\nnamespace smacc\n{\n template \n void ISmaccComponent::postEvent(const EventType &ev)\n {\n stateMachine_->postEvent(ev);\n }\n\n template \n void ISmaccComponent::requiresComponent(TComponent *&requiredComponentStorage)\n {\n requiredComponentStorage = this->owner_->getComponent();\n }\n\n template \n void ISmaccComponent::requiresClient(TClient *&requiredClientStorage)\n {\n this->owner_->requiresClient(requiredClientStorage);\n }\n\n template \n SmaccComponentType *ISmaccComponent::createSiblingComponent(TArgs... targs)\n {\n return this->owner_->createComponent(targs...);\n }\n\n template \n SmaccComponentType *ISmaccComponent::createSiblingNamedComponent(std::string name, TArgs... targs)\n {\n return this->owner_->createNamedComponent(name, targs...);\n }\n\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/impl/smacc_event_generator_impl.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n#include \n#include \n\nnamespace smacc\n{\n template \n void SmaccEventGenerator::postEvent(const EventType &ev)\n {\n ownerState_->postEvent(ev);\n }\n\n template \n void SmaccEventGenerator::postEvent()\n {\n ownerState_->postEvent();\n }\n\n template \n void SmaccEventGenerator::onStateAllocation()\n {\n }\n} // namespace smacc\n"
},
{
"path": "smacc/include/smacc/impl/smacc_orthogonal_impl.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n#include \n#include \n#include \n\nnamespace smacc\n{\n\ntemplate \nbool ISmaccOrthogonal::requiresClient(SmaccClientType *&storage)\n{\n for (auto &client : clients_)\n {\n storage = dynamic_cast(client.get());\n if (storage != nullptr)\n return true;\n }\n\n auto requiredClientName = demangledTypeName();\n ROS_WARN_STREAM(\"Required client [\"<< requiredClientName<< \"] not found in current orthogonal. Searching in other orthogonals.\");\n\n for (auto &orthoentry : this->getStateMachine()->getOrthogonals())\n {\n for (auto &client : orthoentry.second->getClients())\n {\n storage = dynamic_cast(client.get());\n if (storage != nullptr)\n {\n ROS_WARN_STREAM(\"Required client [\"<< requiredClientName<<\"] found in other orthogonal.\");\n return true;\n }\n }\n }\n\n ROS_ERROR_STREAM(\"Required client [\"<< requiredClientName<< \"] not found even in other orthogonals. Returning null pointer. If the requested client is used may result in a segmentation fault.\");\n return false;\n}\n\ntemplate \nvoid ISmaccOrthogonal::requiresComponent(SmaccComponentType *&storage)\n{\n if (stateMachine_ == nullptr)\n {\n ROS_ERROR(\"Cannot use the requiresComponent funcionality from an orthogonal before onInitialize\");\n }\n else\n {\n stateMachine_->requiresComponent(storage);\n }\n}\n\ntemplate \nvoid ISmaccOrthogonal::assignClientToOrthogonal(TClient* client)\n{\n client->setStateMachine(getStateMachine());\n client->setOrthogonal(this);\n\n client->template onOrthogonalAllocation();\n}\n\ntemplate \nTClientBehavior *ISmaccOrthogonal::getClientBehavior()\n{\n for (auto &cb : this->clientBehaviors_.back())\n {\n auto *ret = dynamic_cast(cb.get());\n if (ret != nullptr)\n {\n return ret;\n }\n }\n\n return nullptr;\n}\n\ninline const std::vector> &ISmaccOrthogonal::getClients()\n{\n return clients_;\n}\n\ninline const std::vector>> &ISmaccOrthogonal::getClientBehaviors() const\n{\n return this->clientBehaviors_;\n}\n\ntemplate \nvoid ISmaccOrthogonal::setGlobalSMData(std::string name, T value)\n{\n this->getStateMachine()->setGlobalSMData(name, value);\n}\n\ntemplate \nbool ISmaccOrthogonal::getGlobalSMData(std::string name, T &ret)\n{\n return this->getStateMachine()->getGlobalSMData(name, ret);\n}\n\n//inline\nISmaccStateMachine *ISmaccOrthogonal::getStateMachine() { return this->stateMachine_; }\n\ntemplate \nclass ClientHandler : public TClient\n{\npublic:\n template \n ClientHandler(TArgs... args)\n : TClient(args...)\n {\n }\n\n ClientHandler()\n : TClient()\n {\n }\n\n template \n SmaccComponentType *createComponent(TArgs... targs)\n {\n return ISmaccClient::createComponent(targs...);\n }\n\n template \n SmaccComponentType *createNamedComponent(std::string name, TArgs... targs)\n {\n return ISmaccClient::createNamedComponent(name, targs...);\n }\n\n virtual smacc::introspection::TypeInfo::Ptr getType() override\n {\n return smacc::introspection::TypeInfo::getTypeInfoFromType();\n }\n};\n\ntemplate \nclass Orthogonal : public ISmaccOrthogonal\n{\npublic:\n template \n std::shared_ptr> createClient(TArgs... args)\n {\n //static_assert(std::is_base_of::value, \"The object Tag must be the orthogonal type where the client was created\");\n // if (typeid(*this) != typeid(TOrthogonal))\n // {\n // ROS_ERROR_STREAM(\"Error creating client. The object Tag must be the type of the orthogonal where the client was created:\" << demangleType(typeid(*this)) << \". The object creation was skipped and a nullptr was returned\");\n // return nullptr;\n // }\n\n ROS_INFO(\"[%s] creates a client of type '%s' and object tag '%s'\",\n demangleType(typeid(*this)).c_str(),\n demangledTypeName().c_str(),\n demangledTypeName().c_str()\n );\n\n auto client = std::make_shared>(args...);\n this->template assignClientToOrthogonal(client.get());\n\n // it is stored the client (not the client handler)\n clients_.push_back(client);\n\n return client;\n }\n};\n}; // namespace smacc\n"
},
{
"path": "smacc/include/smacc/impl/smacc_state_impl.h",
"content": "/*****************************************************************************************************************\n * ReelRobotix Inc. - Software License Agreement Copyright (c) 2018\n * \t Authors: Pablo Inigo Blasco, Brett Aldrich\n *\n ******************************************************************************************************************/\n\n#pragma once\n#include \n#include \n#include \n#include \n#include \n//#include \n#include \n#include \n#include