CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT > Class Template Reference

Provides logic common to different system handlers to reduce code duplication. More...

#include <common_system_handler.h>

Collaboration diagram for CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >:

Public Member Functions
	CommonSystemHandler (const CommonSystemHandlerConfig &config, RobotSystemT &robot_system)
	Constructor. More...
	CommonSystemHandler (const CommonSystemHandler &)=delete
	Delete copy constructor. More...
bool	isConnected ()
	Checks if internal ROS topics are connected. More...
void	startTimers ()
	Start state machine internal event processing and status timer. More...

Protected Attributes
ros::NodeHandle	nh_
LogicStateMachineT	logic_state_machine_
	State machine that gets run by the system. More...
EventManagerT	event_manager_
	Event manager used by the state machine. More...
StateMachineGUIConnector < EventManagerT, LogicStateMachineT >	state_machine_gui_connector_
SystemStatusPublisher < LogicStateMachineT >	system_status_pub_
	publishes status messages More...
AsyncTimer	status_timer_
	Update uav status and state machine status. More...
AsyncTimer	logic_state_machine_timer_
	Timer for running state machine. More...

Detailed Description

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>
class CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >

Provides logic common to different system handlers to reduce code duplication.

Template Parameters

LogicStateMachineT	Logic state machine to use
EventManagerT	Event manager to use
RobotSystemT	robot system used by the state machine

Constructor & Destructor Documentation

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::CommonSystemHandler ( const CommonSystemHandlerConfig &  config, RobotSystemT &  robot_system  )

inline

Constructor.

Instantiates state machine, timers. Individual system handlers must call startTimers to start the state machine and status timers.

A convenience function isConnected is provided to check if the ros topics associated with state machine event processing are connected or not. The individual system handlers must extend this function if needed.

Parameters

nh	NodeHandle to use for event and command subscription
config	Proto configuration parameters
robot_system	robot system used to create logic state machine

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::CommonSystemHandler ( const CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT > &  )

delete

Delete copy constructor.

Member Function Documentation

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

bool CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::isConnected ( )

inline

Checks if internal ROS topics are connected.

Returns

Returns true if connected and false otherwise

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

void CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::startTimers ( )

inline

Start state machine internal event processing and status timer.

Member Data Documentation

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

EventManagerT CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::event_manager_

protected

Event manager used by the state machine.

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

LogicStateMachineT CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::logic_state_machine_

protected

State machine that gets run by the system.

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

AsyncTimer CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::logic_state_machine_timer_

protected

Timer for running state machine.

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

ros::NodeHandle CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::nh_

protected

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

StateMachineGUIConnector<EventManagerT, LogicStateMachineT> CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::state_machine_gui_connector_

protected

Connects event manager to the state machine

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

AsyncTimer CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::status_timer_

protected

Update uav status and state machine status.

template<class LogicStateMachineT, class EventManagerT, class RobotSystemT>

SystemStatusPublisher<LogicStateMachineT> CommonSystemHandler< LogicStateMachineT, EventManagerT, RobotSystemT >::system_status_pub_

protected

publishes status messages

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The documentation for this class was generated from the following file:

• include/aerial_autonomy/system_handlers/common_system_handler.h