modulo_components::ComponentInterface Class Reference

Base interface class for modulo components to wrap a ROS Node with custom behaviour. More...

#include <ComponentInterface.hpp>

Inheritance diagram for modulo_components::ComponentInterface:

Public Member Functions
virtual	~ComponentInterface ()
	Virtual destructor.
template<>
double	get_period () const
template<>
std::chrono::nanoseconds	get_period () const
template<>
rclcpp::Duration	get_period () const

Protected Member Functions
	ComponentInterface (const std::shared_ptr< rclcpp::node_interfaces::NodeInterfaces< ALL_RCLCPP_NODE_INTERFACES > > &interfaces)
	Constructor with all node interfaces.
double	get_rate () const
	Get the component rate in Hertz.
template<typename T >
T	get_period () const
	Get the component period.
virtual void	step ()
	Step function that is called periodically.
virtual void	on_step_callback ()
	Steps to execute periodically. To be redefined by derived Component classes.
void	add_parameter (const std::shared_ptr< state_representation::ParameterInterface > &parameter, const std::string &description, bool read_only=false)
	Add a parameter.
template<typename T >
void	add_parameter (const std::string &name, const T &value, const std::string &description, bool read_only=false)
	Add a parameter.
std::shared_ptr< state_representation::ParameterInterface >	get_parameter (const std::string &name) const
	Get a parameter by name.
template<typename T >
T	get_parameter_value (const std::string &name) const
	Get a parameter value by name.
template<typename T >
void	set_parameter_value (const std::string &name, const T &value)
	Set the value of a parameter.
virtual bool	on_validate_parameter_callback (const std::shared_ptr< state_representation::ParameterInterface > &parameter)
	Parameter validation function to be redefined by derived Component classes.
template<typename T >
void	add_assignment (const std::string &assignment_name)
	Add an assignment to the map of assignments.
template<typename T >
void	set_assignment (const std::string &assignment_name, const T &assignment_value)
	Set the value of an assignment.
template<typename T >
T	get_assignment (const std::string &assignment_name) const
	Get the value of an assignment.
void	add_predicate (const std::string &predicate_name, bool predicate_value)
	Add a predicate to the map of predicates.
void	add_predicate (const std::string &predicate_name, const std::function< bool(void)> &predicate_function)
	Add a predicate to the map of predicates based on a function to periodically call.
bool	get_predicate (const std::string &predicate_name) const
	Get the logical value of a predicate.
void	set_predicate (const std::string &predicate_name, bool predicate_value)
	Set the value of the predicate given as parameter, if the predicate is not found does not do anything.
void	set_predicate (const std::string &predicate_name, const std::function< bool(void)> &predicate_function)
	Set the value of the predicate given as parameter, if the predicate is not found does not do anything.
void	add_trigger (const std::string &trigger_name)
	Add a trigger to the component. Triggers are predicates that are always false except when it's triggered in which case it is set back to false immediately after it is read.
void	trigger (const std::string &trigger_name)
	Latch the trigger with the provided name.
void	declare_input (const std::string &signal_name, const std::string &default_topic="", bool fixed_topic=false)
	Declare an input to create the topic parameter without adding it to the map of inputs yet.
void	declare_output (const std::string &signal_name, const std::string &default_topic="", bool fixed_topic=false)
	Declare an output to create the topic parameter without adding it to the map of outputs yet.
template<typename DataT >
void	add_input (const std::string &signal_name, const std::shared_ptr< DataT > &data, const std::string &default_topic="", bool fixed_topic=false)
	Add and configure an input signal of the component.
template<typename DataT >
void	add_input (const std::string &signal_name, const std::shared_ptr< DataT > &data, const std::function< void()> &callback, const std::string &default_topic="", bool fixed_topic=false)
	Add and configure an input signal of the component.
template<typename MsgT >
void	add_input (const std::string &signal_name, const std::function< void(const std::shared_ptr< MsgT >)> &callback, const std::string &default_topic="", bool fixed_topic=false)
	Add and configure an input signal of the component.
template<typename DataT >
std::string	create_output (modulo_core::communication::PublisherType publisher_type, const std::string &signal_name, const std::shared_ptr< DataT > &data, const std::string &default_topic, bool fixed_topic, bool publish_on_step)
	Helper function to parse the signal name and add an unconfigured PublisherInterface to the map of outputs.
void	publish_output (const std::string &signal_name)
	Trigger the publishing of an output.
void	remove_input (const std::string &signal_name)
	Remove an input from the map of inputs.
void	remove_output (const std::string &signal_name)
	Remove an output from the map of outputs.
void	add_service (const std::string &service_name, const std::function< ComponentServiceResponse(void)> &callback)
	Add a service to trigger a callback function with no input arguments.
void	add_service (const std::string &service_name, const std::function< ComponentServiceResponse(const std::string &string)> &callback)
	Add a service to trigger a callback function with a string payload.
void	add_periodic_callback (const std::string &name, const std::function< void(void)> &callback)
	Add a periodic callback function.
void	add_tf_broadcaster ()
	Configure a transform broadcaster.
void	add_static_tf_broadcaster ()
	Configure a static transform broadcaster.
void	add_tf_listener ()
	Configure a transform buffer and listener.
void	send_transform (const state_representation::CartesianPose &transform)
	Send a transform to TF.
void	send_transforms (const std::vector< state_representation::CartesianPose > &transforms)
	Send a vector of transforms to TF.
void	send_static_transform (const state_representation::CartesianPose &transform)
	Send a static transform to TF.
void	send_static_transforms (const std::vector< state_representation::CartesianPose > &transforms)
	Send a vector of static transforms to TF.
state_representation::CartesianPose	lookup_transform (const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration)
	Look up a transform from TF.
state_representation::CartesianPose	lookup_transform (const std::string &frame, const std::string &reference_frame="world", double validity_period=-1.0, const tf2::Duration &duration=tf2::Duration(std::chrono::microseconds(10)))
	Look up a transform from TF.
rclcpp::QoS	get_qos () const
	Getter of the Quality of Service attribute.
void	set_qos (const rclcpp::QoS &qos)
	Set the Quality of Service for ROS publishers and subscribers.
virtual void	raise_error ()
	Notify an error in the component.
void	publish_predicates ()
	Helper function to publish all predicates.
void	publish_outputs ()
	Helper function to publish all output signals.
void	evaluate_periodic_callbacks ()
	Helper function to evaluate all periodic function callbacks.
void	finalize_interfaces ()
	Finalize all interfaces.

Protected Attributes
std::map< std::string, std::shared_ptr< modulo_core::communication::SubscriptionInterface > >	inputs_
	Map of inputs.
std::map< std::string, std::shared_ptr< modulo_core::communication::PublisherInterface > >	outputs_
	Map of outputs.
std::map< std::string, bool >	periodic_outputs_
	Map of outputs with periodic publishing flag.

Friends
class	ComponentInterfacePublicInterface

Detailed Description

Base interface class for modulo components to wrap a ROS Node with custom behaviour.

This class is not intended for direct inheritance and usage by end-users. Instead, it defines the common interfaces for the derived classes modulo_components::Component and modulo_components::LifecycleComponent.

See also

Component, LifecycleComponent

Definition at line 57 of file ComponentInterface.hpp.

Constructor & Destructor Documentation

~ComponentInterface()

modulo_components::ComponentInterface::~ComponentInterface ( )

virtual

Virtual destructor.

Definition at line 52 of file ComponentInterface.cpp.

ComponentInterface()

modulo_components::ComponentInterface::ComponentInterface ( const std::shared_ptr< rclcpp::node_interfaces::NodeInterfaces< ALL_RCLCPP_NODE_INTERFACES > > & interfaces )

explicitprotected

Constructor with all node interfaces.

Parameters

interfaces

Shared pointer to all the node interfaces of parent class

Definition at line 13 of file ComponentInterface.cpp.

Member Function Documentation

add_assignment()

template<typename T >

void modulo_components::ComponentInterface::add_assignment ( const std::string & assignment_name )

inlineprotected

Add an assignment to the map of assignments.

Template Parameters

T	The type of the assignment

Parameters

assignment_name

the name of the associated assignment

Definition at line 857 of file ComponentInterface.hpp.

add_input() [1/3]

template<typename MsgT >

void modulo_components::ComponentInterface::add_input ( const std::string & signal_name, const std::function< void(const std::shared_ptr< MsgT >)> & callback, const std::string & default_topic = "", bool fixed_topic = false )

inlineprotected

Add and configure an input signal of the component.

Template Parameters

MsgT	The ROS message type of the subscription

Parameters

signal_name	Name of the input signal
callback	The callback to use for the subscription
default_topic	If set, the default value for the topic name to use
fixed_topic	If true, the topic name of the input signal is fixed

Definition at line 760 of file ComponentInterface.hpp.

add_input() [2/3]

template<typename DataT >

void modulo_components::ComponentInterface::add_input ( const std::string & signal_name, const std::shared_ptr< DataT > & data, const std::function< void()> & callback, const std::string & default_topic = "", bool fixed_topic = false )

inlineprotected

Add and configure an input signal of the component.

Template Parameters

DataT

Type of the data pointer

Parameters

signal_name	Name of the input signal
data	Data to receive on the input signal
callback	Callback function to trigger after receiving the input signal
default_topic	If set, the default value for the topic name to use
fixed_topic	If true, the topic name of the input signal is fixed

Definition at line 669 of file ComponentInterface.hpp.

add_input() [3/3]

template<typename DataT >

void modulo_components::ComponentInterface::add_input ( const std::string & signal_name, const std::shared_ptr< DataT > & data, const std::string & default_topic = "", bool fixed_topic = false )

inlineprotected

Add and configure an input signal of the component.

Template Parameters

DataT

Type of the data pointer

Parameters

signal_name	Name of the input signal
data	Data to receive on the input signal
default_topic	If set, the default value for the topic name to use
fixed_topic	If true, the topic name of the input signal is fixed

Definition at line 662 of file ComponentInterface.hpp.

add_parameter() [1/2]

void modulo_components::ComponentInterface::add_parameter ( const std::shared_ptr< state_representation::ParameterInterface > & parameter, const std::string & description, bool read_only = false )

protected

Add a parameter.

This method stores a pointer reference to an existing Parameter object in the local parameter map and declares the equivalent ROS parameter on the ROS interface.

Parameters

parameter	A ParameterInterface pointer to a Parameter instance
description	The description of the parameter
read_only	If true, the value of the parameter cannot be changed after declaration

Exceptions

ParameterException

if the parameter could not be added

Definition at line 79 of file ComponentInterface.cpp.

add_parameter() [2/2]

template<typename T >

void modulo_components::ComponentInterface::add_parameter ( const std::string & name, const T & value, const std::string & description, bool read_only = false )

inlineprotected

Add a parameter.

This method creates a new Parameter object instance to reference in the local parameter map and declares the equivalent ROS parameter on the ROS interface.

Template Parameters

T	The type of the parameter

Parameters

name	The name of the parameter
value	The value of the parameter
description	The description of the parameter
read_only	If true, the value of the parameter cannot be changed after declaration

Exceptions

ParameterException

if the parameter could not be added

Definition at line 622 of file ComponentInterface.hpp.

add_periodic_callback()

void modulo_components::ComponentInterface::add_periodic_callback ( const std::string & name, const std::function< void(void)> & callback )

protected

Add a periodic callback function.

The provided function is evaluated periodically at the component step period.

Parameters

name	The name of the callback
callback	The callback function that is evaluated periodically

Definition at line 450 of file ComponentInterface.cpp.

add_predicate() [1/2]

void modulo_components::ComponentInterface::add_predicate ( const std::string & predicate_name, bool predicate_value )

protected

Add a predicate to the map of predicates.

Parameters

predicate_name	the name of the associated predicate
predicate_value	the boolean value of the predicate

Definition at line 193 of file ComponentInterface.cpp.

add_predicate() [2/2]

void modulo_components::ComponentInterface::add_predicate ( const std::string & predicate_name, const std::function< bool(void)> & predicate_function )

protected

Add a predicate to the map of predicates based on a function to periodically call.

Parameters

predicate_name	the name of the associated predicate
predicate_function	the function to call that returns the value of the predicate

Definition at line 197 of file ComponentInterface.cpp.

add_service() [1/2]

void modulo_components::ComponentInterface::add_service ( const std::string & service_name, const std::function< ComponentServiceResponse(const std::string &string)> & callback )

protected

Add a service to trigger a callback function with a string payload.

The string payload can have an arbitrary format to parameterize and control the callback behaviour as desired. It is the responsibility of the service callback to parse the string according to some payload format. When adding a service with a string payload, be sure to document the payload format appropriately.

Parameters

service_name	The name of the service
callback	A service callback function with a string argument that returns a ComponentServiceResponse

Definition at line 397 of file ComponentInterface.cpp.

add_service() [2/2]

void modulo_components::ComponentInterface::add_service ( const std::string & service_name, const std::function< ComponentServiceResponse(void)> & callback )

protected

Add a service to trigger a callback function with no input arguments.

Parameters

service_name	The name of the service
callback	A service callback function with no arguments that returns a ComponentServiceResponse

Definition at line 370 of file ComponentInterface.cpp.

add_static_tf_broadcaster()

void modulo_components::ComponentInterface::add_static_tf_broadcaster ( )

protected

Configure a static transform broadcaster.

Definition at line 476 of file ComponentInterface.cpp.

add_tf_broadcaster()

void modulo_components::ComponentInterface::add_tf_broadcaster ( )

protected

Configure a transform broadcaster.

Definition at line 465 of file ComponentInterface.cpp.

add_tf_listener()

void modulo_components::ComponentInterface::add_tf_listener ( )

protected

Configure a transform buffer and listener.

Definition at line 489 of file ComponentInterface.cpp.

add_trigger()

void modulo_components::ComponentInterface::add_trigger ( const std::string & trigger_name )

protected

Add a trigger to the component. Triggers are predicates that are always false except when it's triggered in which case it is set back to false immediately after it is read.

Parameters

trigger_name

The name of the trigger

Definition at line 256 of file ComponentInterface.cpp.

create_output()

template<typename DataT >

std::string modulo_components::ComponentInterface::create_output ( modulo_core::communication::PublisherType publisher_type, const std::string & signal_name, const std::shared_ptr< DataT > & data, const std::string & default_topic, bool fixed_topic, bool publish_on_step )

inlineprotected

Helper function to parse the signal name and add an unconfigured PublisherInterface to the map of outputs.

Template Parameters

DataT

Type of the data pointer

Parameters

signal_name	Name of the output signal
data	Data to transmit on the output signal
default_topic	If set, the default value for the topic name to use
fixed_topic	If true, the topic name of the output signal is fixed
publish_on_step	If true, the output is published periodically on step

Exceptions

modulo_core::exceptions::AddSignalException

if the output could not be created (empty name, already registered)

Returns

The parsed signal name

Definition at line 792 of file ComponentInterface.hpp.

declare_input()

void modulo_components::ComponentInterface::declare_input ( const std::string & signal_name, const std::string & default_topic = "", bool fixed_topic = false )

protected

Declare an input to create the topic parameter without adding it to the map of inputs yet.

Parameters

signal_name	The signal name of the input
default_topic	If set, the default value for the topic name to use
fixed_topic	If true, the topic name of the signal is fixed

Exceptions

modulo_core::exceptions::AddSignalException

if the input could not be declared (empty name or already created)

Definition at line 289 of file ComponentInterface.cpp.

declare_output()

void modulo_components::ComponentInterface::declare_output ( const std::string & signal_name, const std::string & default_topic = "", bool fixed_topic = false )

protected

Declare an output to create the topic parameter without adding it to the map of outputs yet.

Parameters

signal_name	The signal name of the output
default_topic	If set, the default value for the topic name to use
fixed_topic	If true, the topic name of the signal is fixed

Exceptions

modulo_core::exceptions::AddSignalException

if the output could not be declared (empty name or already created)

Definition at line 294 of file ComponentInterface.cpp.

evaluate_periodic_callbacks()

void modulo_components::ComponentInterface::evaluate_periodic_callbacks ( )

protected

Helper function to evaluate all periodic function callbacks.

Definition at line 604 of file ComponentInterface.cpp.

finalize_interfaces()

void modulo_components::ComponentInterface::finalize_interfaces ( )

protected

Finalize all interfaces.

Definition at line 616 of file ComponentInterface.cpp.

get_assignment()

template<typename T >

T modulo_components::ComponentInterface::get_assignment ( const std::string & assignment_name ) const

protected

Get the value of an assignment.

Template Parameters

T	The type of the assignment

Parameters

assignment_name

The name of the assignment to get

Exceptions

modulo_core::exceptions::InvalidAssignmentException	if the assignment does not exist or the type does not match
state_representation::exceptions::EmptyStateException	if the assignment has not been set yet

Definition at line 914 of file ComponentInterface.hpp.

get_parameter()

std::shared_ptr< state_representation::ParameterInterface > modulo_components::ComponentInterface::get_parameter ( const std::string & name ) const

nodiscardprotected

Get a parameter by name.

Parameters

name	The name of the parameter

Exceptions

modulo_core::exceptions::ParameterException

if the parameter could not be found

Returns

The ParameterInterface pointer to a Parameter instance

Definition at line 126 of file ComponentInterface.cpp.

get_parameter_value()

template<typename T >

T modulo_components::ComponentInterface::get_parameter_value ( const std::string & name ) const

inlinenodiscardprotected

Get a parameter value by name.

Template Parameters

T	The type of the parameter

Parameters

name	The name of the parameter

Exceptions

modulo_core::exceptions::ParameterException

if the parameter value could not be accessed

Returns

The value of the parameter

Definition at line 632 of file ComponentInterface.hpp.

get_period() [1/4]

template<typename T >

T modulo_components::ComponentInterface::get_period ( ) const

protected

Get the component period.

Returns

The component period

get_period() [2/4]

template<>

double modulo_components::ComponentInterface::get_period

(

)

const

Definition at line 61 of file ComponentInterface.cpp.

get_period() [3/4]

template<>

std::chrono::nanoseconds modulo_components::ComponentInterface::get_period

(

)

const

Definition at line 66 of file ComponentInterface.cpp.

get_period() [4/4]

template<>

rclcpp::Duration modulo_components::ComponentInterface::get_period

(

)

const

Definition at line 71 of file ComponentInterface.cpp.

get_predicate()

bool modulo_components::ComponentInterface::get_predicate ( const std::string & predicate_name ) const

nodiscardprotected

Get the logical value of a predicate.

If the predicate is not found or the callable function fails, the return value is false.

Parameters

predicate_name

the name of the predicate to retrieve from the map of predicates

Returns

the value of the predicate as a boolean

Definition at line 219 of file ComponentInterface.cpp.

get_qos()

rclcpp::QoS modulo_components::ComponentInterface::get_qos ( ) const

nodiscardprotected

Getter of the Quality of Service attribute.

Returns

The Quality of Service attribute

Definition at line 553 of file ComponentInterface.cpp.

get_rate()

double modulo_components::ComponentInterface::get_rate ( ) const

protected

Get the component rate in Hertz.

Returns

The component rate

Definition at line 56 of file ComponentInterface.cpp.

lookup_transform() [1/2]

state_representation::CartesianPose modulo_components::ComponentInterface::lookup_transform ( const std::string & frame, const std::string & reference_frame, const tf2::TimePoint & time_point, const tf2::Duration & duration )

nodiscardprotected

Look up a transform from TF.

Parameters

frame	The desired frame of the transform
reference_frame	The desired reference frame of the transform
time_point	The time at which the value of the transform is desired
duration	How long to block the lookup call before failing

Exceptions

modulo_core::exceptions::LookupTransformException

if TF buffer/listener are unconfigured or if the lookupTransform call failed

Returns

If it exists, the requested transform

Definition at line 517 of file ComponentInterface.cpp.

lookup_transform() [2/2]

state_representation::CartesianPose modulo_components::ComponentInterface::lookup_transform ( const std::string & frame, const std::string & reference_frame = "world", double validity_period = -1.0, const tf2::Duration & duration = tf2::Duration(std::chrono::microseconds(10)) )

nodiscardprotected

Look up a transform from TF.

Parameters

frame	The desired frame of the transform
reference_frame	The desired reference frame of the transform
validity_period	The validity period of the latest transform from the time of lookup in seconds
duration	How long to block the lookup call before failing

Exceptions

modulo_core::exceptions::LookupTransformException

if TF buffer/listener are unconfigured, if the lookupTransform call failed, or if the transform is too old

Returns

If it exists and is still valid, the requested transform

Definition at line 526 of file ComponentInterface.cpp.

on_step_callback()

void modulo_components::ComponentInterface::on_step_callback ( )

protectedvirtual

Steps to execute periodically. To be redefined by derived Component classes.

Definition at line 77 of file ComponentInterface.cpp.

on_validate_parameter_callback()

bool modulo_components::ComponentInterface::on_validate_parameter_callback ( const std::shared_ptr< state_representation::ParameterInterface > & parameter )

protectedvirtual

Parameter validation function to be redefined by derived Component classes.

This method is automatically invoked whenever the ROS interface tried to modify a parameter. Validation and sanitization can be performed by reading or writing the value of the parameter through the ParameterInterface pointer, depending on the parameter name and desired component behaviour. If the validation returns true, the updated parameter value (including any modifications) is applied. If the validation returns false, any changes to the parameter are discarded and the parameter value is not changed.

Parameters

parameter

A ParameterInterface pointer to a Parameter instance

Returns

The validation result

Definition at line 188 of file ComponentInterface.cpp.

publish_output()

void modulo_components::ComponentInterface::publish_output ( const std::string & signal_name )

protected

Trigger the publishing of an output.

Parameters

signal_name

The name of the output signal

Exceptions

ComponentException

if the output is being published periodically or if the signal name could not be found

Definition at line 331 of file ComponentInterface.cpp.

publish_outputs()

void modulo_components::ComponentInterface::publish_outputs ( )

protected

Helper function to publish all output signals.

Definition at line 590 of file ComponentInterface.cpp.

publish_predicates()

void modulo_components::ComponentInterface::publish_predicates ( )

protected

Helper function to publish all predicates.

Definition at line 578 of file ComponentInterface.cpp.

raise_error()

void modulo_components::ComponentInterface::raise_error ( )

protectedvirtual

Notify an error in the component.

Reimplemented in modulo_components::Component, and modulo_components::LifecycleComponent.

Definition at line 561 of file ComponentInterface.cpp.

remove_input()

void modulo_components::ComponentInterface::remove_input ( const std::string & signal_name )

protected

Remove an input from the map of inputs.

Parameters

signal_name

The name of the input

Definition at line 348 of file ComponentInterface.cpp.

remove_output()

void modulo_components::ComponentInterface::remove_output ( const std::string & signal_name )

protected

Remove an output from the map of outputs.

Parameters

signal_name

The name of the output

Definition at line 359 of file ComponentInterface.cpp.

send_static_transform()

void modulo_components::ComponentInterface::send_static_transform ( const state_representation::CartesianPose & transform )

protected

Send a static transform to TF.

Parameters

transform

The transform to send

Definition at line 509 of file ComponentInterface.cpp.

send_static_transforms()

void modulo_components::ComponentInterface::send_static_transforms ( const std::vector< state_representation::CartesianPose > & transforms )

protected

Send a vector of static transforms to TF.

Parameters

transforms

The vector of transforms to send

Definition at line 513 of file ComponentInterface.cpp.

send_transform()

void modulo_components::ComponentInterface::send_transform ( const state_representation::CartesianPose & transform )

protected

Send a transform to TF.

Parameters

transform

The transform to send

Definition at line 501 of file ComponentInterface.cpp.

send_transforms()

void modulo_components::ComponentInterface::send_transforms ( const std::vector< state_representation::CartesianPose > & transforms )

protected

Send a vector of transforms to TF.

Parameters

transforms

The vector of transforms to send

Definition at line 505 of file ComponentInterface.cpp.

set_assignment()

template<typename T >

void modulo_components::ComponentInterface::set_assignment ( const std::string & assignment_name, const T & assignment_value )

protected

Set the value of an assignment.

Template Parameters

T	The type of the assignment

Parameters

assignment_name	The name of the assignment to set
assignment_value	The value of the assignment

Definition at line 889 of file ComponentInterface.hpp.

set_parameter_value()

template<typename T >

void modulo_components::ComponentInterface::set_parameter_value ( const std::string & name, const T & value )

inlineprotected

Set the value of a parameter.

The parameter must have been previously declared. This method preserves the reference to the original Parameter instance

Template Parameters

T	The type of the parameter

Parameters

name	The name of the parameter

Returns

The value of the parameter

Definition at line 642 of file ComponentInterface.hpp.

set_predicate() [1/2]

void modulo_components::ComponentInterface::set_predicate ( const std::string & predicate_name, bool predicate_value )

protected

Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

Even though the predicates are published periodically, the new value of this predicate will be published once immediately after setting it.

Parameters

predicate_name	the name of the predicate to retrieve from the map of predicates
predicate_value	the new value of the predicate

Definition at line 237 of file ComponentInterface.cpp.

set_predicate() [2/2]

void modulo_components::ComponentInterface::set_predicate ( const std::string & predicate_name, const std::function< bool(void)> & predicate_function )

protected

Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

Even though the predicates are published periodically, the new value of this predicate will be published once immediately after setting it.

Parameters

predicate_name	the name of the predicate to retrieve from the map of predicates
predicate_function	the function to call that returns the value of the predicate

Definition at line 241 of file ComponentInterface.cpp.

set_qos()

void modulo_components::ComponentInterface::set_qos ( const rclcpp::QoS & qos )

protected

Set the Quality of Service for ROS publishers and subscribers.

Parameters

qos	The desired Quality of Service

Definition at line 557 of file ComponentInterface.cpp.

step()

void modulo_components::ComponentInterface::step ( )

protectedvirtual

Step function that is called periodically.

Definition at line 75 of file ComponentInterface.cpp.

trigger()

void modulo_components::ComponentInterface::trigger ( const std::string & trigger_name )

protected

Latch the trigger with the provided name.

Parameters

trigger_name

The name of the trigger

Definition at line 277 of file ComponentInterface.cpp.

Friends And Related Symbol Documentation

ComponentInterfacePublicInterface

friend class ComponentInterfacePublicInterface

friend

Definition at line 59 of file ComponentInterface.hpp.

Member Data Documentation

inputs_

std::map<std::string, std::shared_ptr<modulo_core::communication::SubscriptionInterface> > modulo_components::ComponentInterface::inputs_

protected

Map of inputs.

Definition at line 474 of file ComponentInterface.hpp.

outputs_

std::map<std::string, std::shared_ptr<modulo_core::communication::PublisherInterface> > modulo_components::ComponentInterface::outputs_

protected

Map of outputs.

Definition at line 475 of file ComponentInterface.hpp.

periodic_outputs_

std::map<std::string, bool> modulo_components::ComponentInterface::periodic_outputs_

protected

Map of outputs with periodic publishing flag.

Definition at line 476 of file ComponentInterface.hpp.

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

• /github/workspace/source/modulo_components/include/modulo_components/ComponentInterface.hpp
• /github/workspace/source/modulo_components/src/ComponentInterface.cpp