.. _program_listing_file_include_smacc2_smacc_client.hpp:

Program Listing for File smacc_client.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_smacc2_smacc_client.hpp>` (``include/smacc2/smacc_client.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/common.hpp>
   #include <smacc2/component.hpp>
   #include <typeinfo>
   
   namespace smacc2
   {
   struct ComponentKey
   {
     ComponentKey(const std::type_info * typeinfo, std::string name)
     {
       this->name = name;
       this->typeinfo = typeinfo;
       encodedKey = std::to_string((long)(void *)typeinfo) + "_" + name;
     }
     std::string encodedKey;
     const std::type_info * typeinfo;
     std::string name;
   
     bool operator<(const ComponentKey & other) const { return this->encodedKey < other.encodedKey; }
     bool operator==(const ComponentKey & other) const { return this->encodedKey == other.encodedKey; }
   };
   
   class ISmaccClient
   {
   public:
     ISmaccClient();
     virtual ~ISmaccClient();
   
     virtual void onInitialize();
   
     // Returns a custom identifier defined by the specific plugin implementation
     virtual std::string getName() const;
   
     template <typename TComponent>
     TComponent * getComponent();
   
     template <typename TComponent>
     TComponent * getComponent(std::string name);
   
     // Gets the i-th component of type TComponent
     template <typename TComponent>
     TComponent * getComponent(int index);
   
     virtual smacc2::introspection::TypeInfo::Ptr getType();
   
     inline ISmaccStateMachine * getStateMachine();
   
     template <typename TSmaccSignal, typename T>
     void connectSignal(TSmaccSignal & signal, void (T::*callback)(), T * object);
   
     template <typename SmaccClientType>
     void requiresClient(SmaccClientType *& storage);
   
     void getComponents(std::vector<std::shared_ptr<ISmaccComponent>> & components);
   
     const std::vector<std::shared_ptr<ISmaccComponent>> & iterateComponents() const;
   
     // now this needs to be public because sub-components needs to use. This is something to improve.
     template <typename EventType>
     void postEvent(const EventType & ev);
   
     // now this needs to be public because sub-components needs to use. This is something to improve.
     template <typename EventType>
     void postEvent();
   
   protected:
     // it is called after the client initialization, provides information about the orthogonal it is located in
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
     }
   
     // components
     std::map<ComponentKey, std::shared_ptr<smacc2::ISmaccComponent>> components_;
   
     template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
     SmaccComponentType * createComponent(TArgs... targs);
   
     template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
     SmaccComponentType * createNamedComponent(std::string name, TArgs... targs);
   
     rclcpp::Node::SharedPtr getNode();
   
     inline rclcpp::Logger getLogger() { return getNode()->get_logger(); }
   
   private:
     // A reference to the state machine object that owns this resource
     ISmaccStateMachine * stateMachine_;
     ISmaccOrthogonal * orthogonal_;
   
     // friend method called by orthogonal
     void initialize();
   
     // friend method called by orthogonal
     // Assigns the owner of this resource to the given state machine parameter object
     void setStateMachine(ISmaccStateMachine * stateMachine);
   
     // friend method called by orthogonal
     void setOrthogonal(ISmaccOrthogonal * orthogonal);
   
     friend class ISmaccOrthogonal;
     friend class ISmaccComponent;
   };
   }  // namespace smacc2