capabilities2_events::EventBase Class Reference

event base class More...

#include "event_base.hpp"

Inheritance diagram for capabilities2_events::EventBase:

Public Types
typedef std::string	capability_str_t
typedef capabilities2_events::EventParameters	parameter_t
typedef std::string	access_id_t
typedef std::string	target_instance_id_t
typedef std::function< void(const access_id_t &, const capability_str_t &, const target_instance_id_t &, parameter_t)>	event_callback_t

Public Member Functions
	EventBase ()
	~EventBase ()=default
virtual void	emit (const std::string &connection_id, const uint8_t &event_code, const capabilities2_msgs::msg::Capability &source, const capabilities2_msgs::msg::Capability &target, event_callback_t callback)
	emit an event
virtual void	on_server_ready (const std::string &msg)=0
	on server ready event
virtual void	on_process_launched (const std::string &pid)=0
	on process launched event
virtual void	on_process_terminated (const std::string &pid)=0
	on process terminated event
virtual void	on_triggered (const std::string &trigger_id)=0
	on triggered event from server
virtual void	on_connected (const std::string &source, const std::string &target)=0
	on connected event from server
virtual void	on_disconnected (const std::string &source, const std::string &target)=0
	on disconnected event from server

Detailed Description

event base class

Represents an event in the capabilities framework. An event can be triggered to notify other components about changes in running capability (runners) states.

Member Typedef Documentation

access_id_t

typedef std::string capabilities2_events::EventBase::access_id_t

capability_str_t

typedef std::string capabilities2_events::EventBase::capability_str_t

event_callback_t

typedef std::function<void(const access_id_t&, const capability_str_t&, const target_instance_id_t&, parameter_t)> capabilities2_events::EventBase::event_callback_t

parameter_t

typedef capabilities2_events::EventParameters capabilities2_events::EventBase::parameter_t

target_instance_id_t

typedef std::string capabilities2_events::EventBase::target_instance_id_t

Constructor & Destructor Documentation

EventBase()

capabilities2_events::EventBase::EventBase ( )

inline

~EventBase()

capabilities2_events::EventBase::~EventBase ( )

default

Member Function Documentation

emit()

virtual void capabilities2_events::EventBase::emit ( const std::string &  connection_id, const uint8_t &  event_code, const capabilities2_msgs::msg::Capability &  source, const capabilities2_msgs::msg::Capability &  target, event_callback_t  callback  )

inlinevirtual

emit an event

an event emission uses a parameterised callback which lets loosely-coupled capabilities propogate state changes when a source capability emits an event to a target capability

Parameters

connection_id	connection identifier (format: "bond_id/trigger_id")
event_code	type of event being emitted
source	source capability emitting the event
target	target capability receiving the event
callback	function to trigger target capability with (capability, parameters, bond_id, target_instance_id)

Reimplemented in capabilities2_events::PublishedEvent.

on_connected()

virtual void capabilities2_events::EventBase::on_connected ( const std::string &  source, const std::string &  target  )

pure virtual

on connected event from server

Parameters

source
target

Implemented in capabilities2_events::PublishedEvent.

on_disconnected()

virtual void capabilities2_events::EventBase::on_disconnected ( const std::string &  source, const std::string &  target  )

pure virtual

on disconnected event from server

Parameters

source
target

Implemented in capabilities2_events::PublishedEvent.

on_process_launched()

virtual void capabilities2_events::EventBase::on_process_launched ( const std::string &  pid )

pure virtual

on process launched event

Parameters

pid

Implemented in capabilities2_events::PublishedEvent.

on_process_terminated()

virtual void capabilities2_events::EventBase::on_process_terminated ( const std::string &  pid )

pure virtual

on process terminated event

Parameters

pid

Implemented in capabilities2_events::PublishedEvent.

on_server_ready()

virtual void capabilities2_events::EventBase::on_server_ready ( const std::string &  msg )

pure virtual

on server ready event

Parameters

msg

Implemented in capabilities2_events::PublishedEvent.

on_triggered()

virtual void capabilities2_events::EventBase::on_triggered ( const std::string &  trigger_id )

pure virtual

on triggered event from server

Parameters

trigger_id

Implemented in capabilities2_events::PublishedEvent.

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

• capabilities2_events/include/capabilities2_events/event_base.hpp