Publishes state machine data for visualization. More...

#include <yasmin_viewer_pub.hpp>

Collaboration diagram for yasmin_viewer::YasminViewerPub:

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Public Member Functions
	YasminViewerPub (const rclcpp::Node::SharedPtr &node, std::shared_ptr< yasmin::StateMachine > fsm, const std::string &fsm_name)
	Constructs YasminViewerPub with a given ROS 2 node, state machine name, and state machine instance.

	YasminViewerPub (std::shared_ptr< yasmin::StateMachine > fsm, const std::string &fsm_name)
	Constructs YasminViewerPub with a default ROS 2 node instance, state machine name, and state machine instance.

	YasminViewerPub (const rclcpp::Node::SharedPtr &node, std::shared_ptr< yasmin::StateMachine > fsm)
	Constructs YasminViewerPub with a given ROS 2 node, state machine name, and state machine instance.

	YasminViewerPub (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 (const std::map< std::string, std::string > &transitions)
	Parses transitions from a map of transitions and returns a list of Transition messages.

std::map< std::string, std::vector< yasmin_msgs::msg::Transition > >	parse_concurrence_transitions (std::shared_ptr< yasmin::Concurrence > concurrence)
	Parses concurrence transitions from outcome map to transition-like information.

void	parse_state (const std::string &name, std::shared_ptr< yasmin::State > state, const 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::shared_ptr< yasmin::StateMachine >	fsm
	Shared pointer to the state machine.

std::string	fsm_name
	Name of the finite state machine.

Detailed Description

Publishes state machine data for visualization.

Constructor & Destructor Documentation

◆ YasminViewerPub() [1/4]

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

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

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() [2/4]

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

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

Parameters

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

◆ YasminViewerPub() [3/4]

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

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

Parameters

node	Shared pointer to the ROS 2 node.
fsm	Shared pointer to the StateMachine instance to be published.

◆ YasminViewerPub() [4/4]

YasminViewerPub::YasminViewerPub ( std::shared_ptr< yasmin::StateMachine > fsm )

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

Parameters

fsm	Shared pointer to the StateMachine instance to be published.

Member Function Documentation

◆ parse_concurrence_transitions()

std::map< std::string, std::vector< yasmin_msgs::msg::Transition > > YasminViewerPub::parse_concurrence_transitions ( std::shared_ptr< yasmin::Concurrence > concurrence )

Parses concurrence transitions from outcome map to transition-like information.

Parameters

concurrence Shared pointer to the Concurrence state.

Returns: Map of state names to their transition vectors.

◆ parse_state()

void YasminViewerPub::parse_state	(	const std::string &	state_name,
		std::shared_ptr< yasmin::State >	state,
		const 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 ( const 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.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ YasminViewerPub() [1/4]

◆ YasminViewerPub() [2/4]

◆ YasminViewerPub() [3/4]

◆ YasminViewerPub() [4/4]

Member Function Documentation

◆ parse_concurrence_transitions()

◆ parse_state()

◆ parse_transitions()

◆ publish_data()

Member Data Documentation

◆ fsm

◆ fsm_name

◆ node_

◆ publisher

◆ timer