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, yasmin::StateMachine::SharedPtr fsm, const std::string &fsm_name)
	Constructs YasminViewerPub with a given ROS 2 node, state machine name, and state machine instance.
	YasminViewerPub (yasmin::StateMachine::SharedPtr 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, yasmin::StateMachine::SharedPtr fsm)
	Constructs YasminViewerPub with a given ROS 2 node, state machine name, and state machine instance.
	YasminViewerPub (yasmin::StateMachine::SharedPtr 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 yasmin::Transitions &transitions) const
	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 (yasmin::Concurrence::SharedPtr concurrence) const
	Parses concurrence transitions from outcome map to transition-like information.
void	parse_state (const std::string &name, yasmin::State::SharedPtr state, const yasmin::Transitions &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.
yasmin::StateMachine::SharedPtr	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,
		yasmin::StateMachine::SharedPtr	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	(	yasmin::StateMachine::SharedPtr	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,
		yasmin::StateMachine::SharedPtr	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

(

yasmin::StateMachine::SharedPtr

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

(

yasmin::Concurrence::SharedPtr

concurrence

)

const

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 &	name,
		yasmin::State::SharedPtr	state,
		const yasmin::Transitions &	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.

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.

parse_transitions()

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

(

const yasmin::Transitions &

transitions

)

const

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

Parameters

transitions

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

Returns

Vector of Transition messages.

publish_data()

void YasminViewerPub::publish_data

(

)

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

Exceptions

std::exception

if state machine validation fails.

Member Data Documentation

fsm

yasmin::StateMachine::SharedPtr 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