AddTwoIntsState Class Reference

State for calling the AddTwoInts service in ROS 2. More...

Inheritance diagram for AddTwoIntsState:

Collaboration diagram for AddTwoIntsState:

Public Member Functions
	AddTwoIntsState ()
	Constructor for AddTwoIntsState.
example_interfaces::srv::AddTwoInts::Request::SharedPtr	create_request_handler (yasmin::Blackboard::SharedPtr blackboard)
	Creates a service request using values from the blackboard.
std::string	response_handler (yasmin::Blackboard::SharedPtr blackboard, example_interfaces::srv::AddTwoInts::Response::SharedPtr response)
	Handles the service response and stores the result in the blackboard.
Public Member Functions inherited from yasmin_ros::ServiceState< example_interfaces::srv::AddTwoInts >
	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Shared pointer type for ServiceState.
std::string	execute (yasmin::Blackboard::SharedPtr blackboard) override
	Execute the service call and handle the response.
Public Member Functions inherited from yasmin::State
	State (const Outcomes &outcomes)
	Shared pointer type for State.
virtual	~State ()
	Virtual destructor.
Blackboard::SharedPtr	get_parameters_blackboard () const
	Gets the private parameter blackboard of this state.
bool	is_idle () const noexcept
	Checks if the state is idle.
bool	is_running () const noexcept
	Checks if the state is currently running.
bool	is_canceled () const noexcept
	Checks if the state has been canceled.
bool	is_completed () const noexcept
	Checks if the state has completed execution.
std::string	operator() (Blackboard::SharedPtr blackboard)
	Executes the state and returns the outcome.
virtual void	configure ()
	Configures the state before execution.
virtual void	cancel_state ()
	Cancels the current state execution.
Outcomes const &	get_outcomes () const noexcept
	Gets the set of possible outcomes for this state.
void	set_description (const std::string &description)
	Sets the description for this state.
const std::string &	get_description () const
	Gets the description of this state.
void	set_outcome_description (const std::string &outcome, const std::string &description)
	Sets a human-readable description for an outcome.
const std::string &	get_outcome_description (const std::string &outcome) const
	Gets the human-readable description for an outcome.
const std::unordered_map< std::string, std::string > &	get_outcome_descriptions () const
	Gets all outcome descriptions.
void	add_input_key (const BlackboardKeyInfo &key_info)
	Adds an input key to the state's metadata.
void	add_input_key (const std::string &key_name)
	Adds an input key with a name only.
void	add_input_key (const std::string &key_name, const std::string &description)
	Adds an input key with a name and description.
template<typename T>
void	add_input_key (const std::string &key_name, const std::string &description, T default_value)
	Adds an input key with a name, default value and description.
void	add_output_key (const BlackboardKeyInfo &key_info)
	Adds an output key to the state's metadata.
void	add_output_key (const std::string &key_name)
	Adds an output key with a name only.
void	add_output_key (const std::string &key_name, const std::string &description)
	Adds an output key with a name and description.
const std::vector< BlackboardKeyInfo > &	get_input_keys () const
	Gets the input keys metadata.
const std::vector< BlackboardKeyInfo > &	get_output_keys () const
	Gets the output keys metadata.
void	declare_parameter (const BlackboardKeyInfo &parameter_info)
	Declares a parameter in the state metadata.
void	declare_parameter (const std::string &parameter_name)
	Declares a parameter with a name only.
void	declare_parameter (const std::string &parameter_name, const std::string &description)
	Declares a parameter with a name and description.
template<typename T>
void	declare_parameter (const std::string &parameter_name, const std::string &description, T default_value)
	Declares a parameter with a name, description, and default value.
bool	has_parameter (const std::string &parameter_name) const
	Checks if a parameter exists in the state-local parameter storage.
template<typename T>
T	get_parameter (const std::string &parameter_name) const
	Gets a parameter from the state-local parameter storage.
template<typename T>
void	set_parameter (const std::string &parameter_name, T value)
	Sets a parameter in the state-local parameter storage.
bool	is_parameter_declared (const std::string &parameter_name) const
	Checks whether a parameter was declared in the state metadata.
void	copy_parameter_from (const State &source_state, const std::string &source_parameter_name, const std::string &target_parameter_name)
	Copies a parameter value from another state.
const std::vector< BlackboardKeyInfo > &	get_parameters () const
	Gets the declared parameter metadata.
const StateMetadata &	get_metadata () const
	Gets the complete state metadata.
virtual std::string	to_string () const
	Converts the state to a string representation.

Additional Inherited Members
Protected Attributes inherited from yasmin_ros::ServiceState< example_interfaces::srv::AddTwoInts >
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS 2 node.
Protected Attributes inherited from yasmin::State
Outcomes	outcomes
	The possible outcomes of this state.

Detailed Description

State for calling the AddTwoInts service in ROS 2.

This state constructs and sends a service request to add two integers, and processes the response to retrieve and store the result in the blackboard.

Constructor & Destructor Documentation

AddTwoIntsState()

AddTwoIntsState::AddTwoIntsState ( )

inline

Constructor for AddTwoIntsState.

Initializes the service state with the specified service name and handlers for request creation and response processing.

Member Function Documentation

create_request_handler()

example_interfaces::srv::AddTwoInts::Request::SharedPtr AddTwoIntsState::create_request_handler ( yasmin::Blackboard::SharedPtr blackboard )

inline

Creates a service request using values from the blackboard.

Retrieves integers "a" and "b" from the blackboard and sets them in the request.

Parameters

blackboard

Shared pointer to the blackboard for retrieving values.

Returns

example_interfaces::srv::AddTwoInts::Request::SharedPtr The service request.

response_handler()

std::string AddTwoIntsState::response_handler ( yasmin::Blackboard::SharedPtr blackboard, example_interfaces::srv::AddTwoInts::Response::SharedPtr response )

inline

Handles the service response and stores the result in the blackboard.

Retrieves the sum from the service response and stores it in the blackboard.

Parameters

blackboard	Shared pointer to the blackboard for storing values.
response	Shared pointer to the service response containing the sum.

Returns

std::string Outcome indicating success.

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

• yasmin_demos/src/service_client_demo.cpp