yasmin_viewer::YasminViewerPub Class Reference

Publishes state machine data for visualization. More...

#include <yasmin_viewer_pub.hpp>

Collaboration diagram for yasmin_viewer::YasminViewerPub:

Public Member Functions
	YasminViewerPub (const rclcpp::Node::SharedPtr &node, std::string fsm_name, std::shared_ptr< yasmin::StateMachine > fsm)
	Constructs YasminViewerPub with a given ROS 2 node, state machine name, and state machine instance.
	YasminViewerPub (std::string fsm_name, std::shared_ptr< yasmin::StateMachine > fsm)
	Constructs YasminViewerPub with a default ROS 2 node instance, state machine name, and state machine instance.
std::vector< yasmin_msgs::msg::Transition >	parse_transitions (std::map< std::string, std::string > transitions)
	Parses transitions from a map of transitions and returns a list of Transition messages.
void	parse_state (std::string name, std::shared_ptr< yasmin::State > state, std::map< std::string, std::string > transitions, std::vector< yasmin_msgs::msg::State > &states_list, int parent)
	Parses a state and its transitions to add it to the list of state messages.
void	publish_data ()
	Publishes the data of the finite state machine to the associated ROS topic.

Private Attributes
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS 2 node.
rclcpp::Publisher< yasmin_msgs::msg::StateMachine >::SharedPtr	publisher
	Publisher for StateMachine messages.
rclcpp::TimerBase::SharedPtr	timer
	Timer for periodic publishing.
std::string	fsm_name
	Name of the finite state machine.
std::shared_ptr< yasmin::StateMachine >	fsm
	Shared pointer to the state machine.

Detailed Description

Publishes state machine data for visualization.

Constructor & Destructor Documentation

YasminViewerPub() [1/2]

YasminViewerPub::YasminViewerPub	(	const rclcpp::Node::SharedPtr &	node,
		std::string	fsm_name,
		std::shared_ptr< yasmin::StateMachine >	fsm )

Constructs YasminViewerPub with a given ROS 2 node, state machine name, and state machine instance.

Constructs YasminViewerPub with a specific ROS node. If the node is nullptr, a singleton instance of YasminNode is used.

Parameters

node	Shared pointer to the ROS 2 node.
fsm_name	Name of the finite state machine.
fsm	Shared pointer to the StateMachine instance to be published.

YasminViewerPub() [2/2]

YasminViewerPub::YasminViewerPub	(	std::string	fsm_name,
		std::shared_ptr< yasmin::StateMachine >	fsm )

Constructs YasminViewerPub with a default ROS 2 node instance, state machine name, and state machine instance.

Constructs YasminViewerPub by delegating to another constructor with a nullptr node.

Parameters

fsm_name	Name of the finite state machine.
fsm	Shared pointer to the StateMachine instance to be published.

Member Function Documentation

parse_state()

void YasminViewerPub::parse_state	(	std::string	state_name,
		std::shared_ptr< yasmin::State >	state,
		std::map< std::string, std::string >	transitions,
		std::vector< yasmin_msgs::msg::State > &	states_list,
		int	parent )

Parses a state and its transitions to add it to the list of state messages.

Parses a state and its transitions, adding it to the states list and handling nested FSMs if applicable.

Parameters

name	Name of the state to be parsed.
state	Shared pointer to the State instance.
transitions	Map of transitions associated with this state.
states_list	Vector to which the parsed State message will be added.
parent	ID of the parent state.
state_name	Name of the state.
state	Shared pointer to the State instance.
transitions	Map of transitions related to the state.
states_list	Reference to a vector of yasmin_msgs::msg::State to append parsed states.
parent	ID of the parent state; -1 for top-level states.

parse_transitions()

std::vector< yasmin_msgs::msg::Transition > YasminViewerPub::parse_transitions

(

std::map< std::string, std::string >

transitions

)

Parses transitions from a map of transitions and returns a list of Transition messages.

Parses a map of transition pairs (outcome, state) to a vector of Transition messages.

Parameters

transitions

Map where keys are transition outcomes, and values are the next states.

Returns

Vector of Transition messages.

Parameters

transitions

Map containing transition outcomes as keys and next states as values.

Returns

Vector of yasmin_msgs::msg::Transition.

publish_data()

void YasminViewerPub::publish_data

(

)

Publishes the data of the finite state machine to the associated ROS topic.

Publishes the state machine data if validation is successful.

Exceptions

std::exception	if state machine validation fails.
std::exception	Thrown if the state machine fails validation.

Member Data Documentation

fsm

std::shared_ptr<yasmin::StateMachine> yasmin_viewer::YasminViewerPub::fsm

private

Shared pointer to the state machine.

fsm_name

std::string yasmin_viewer::YasminViewerPub::fsm_name

private

Name of the finite state machine.

node_

rclcpp::Node::SharedPtr yasmin_viewer::YasminViewerPub::node_

private

Shared pointer to the ROS 2 node.

publisher

rclcpp::Publisher<yasmin_msgs::msg::StateMachine>::SharedPtr yasmin_viewer::YasminViewerPub::publisher

private

Publisher for StateMachine messages.

timer

rclcpp::TimerBase::SharedPtr yasmin_viewer::YasminViewerPub::timer

private

Timer for periodic publishing.

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

• yasmin_viewer/include/yasmin_viewer/yasmin_viewer_pub.hpp
• yasmin_viewer/src/yasmin_viewer/yasmin_viewer_pub.cpp