capabilities2_events::EventNode Class Reference

an event node is a source of an event More...

#include "event_node.hpp"

Inheritance diagram for capabilities2_events::EventNode:

Classes
struct	EventPipe
	event pipe structure More...

Public Member Functions
	EventNode (std::shared_ptr< EventBase > event_emitter=nullptr)
virtual	~EventNode ()=default
void	emit_event (const std::string &bond_id, const std::string &instance_id, const uint8_t &event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())
	emit an event from this event node to all matching connections

Protected Member Functions
void	set_source (const capabilities2_msgs::msg::Capability &src)
	Set the source object.
void	set_event_emitter (std::shared_ptr< EventBase > event_emitter)
	event emitter for this event node
void	add_connection (const std::string &connection_id, const capabilities2_msgs::msg::CapabilityEventCode &type, const capabilities2_msgs::msg::Capability &target, EventBase::event_callback_t event_cb)
	make EventNode::add_connection public method on runner api.
void	remove_connection (const std::string &connection_id)
	Remove a connection by its id.
void	clear_connections ()
	clear all connections from this event node
std::vector< capabilities2_msgs::msg::CapabilityConnection >	list_connections () const
	List all connections from this event node.
bool	has_connection (const std::string &connection_id) const
	Check if a connection exists.
size_t	connection_count () const
	current connection count
const std::string &	get_id () const
	unique id of this event node
const capabilities2_msgs::msg::Capability &	get_source () const
	source capability of this event node
bool	is_event_emitter_set () const
	event emitter is set on this node

Private Attributes
std::string	id_
capabilities2_msgs::msg::Capability	source_
std::shared_ptr< EventBase >	event_emitter_
std::map< std::string, EventPipe >	connections_

Detailed Description

an event node is a source of an event

events when emitted will trigger interactions with connected nodes

Constructor & Destructor Documentation

EventNode()

capabilities2_events::EventNode::EventNode ( std::shared_ptr< EventBase >  event_emitter = nullptr )

inline

~EventNode()

virtual capabilities2_events::EventNode::~EventNode ( )

virtualdefault

Member Function Documentation

add_connection()

void capabilities2_events::EventNode::add_connection ( const std::string &  connection_id, const capabilities2_msgs::msg::CapabilityEventCode &  type, const capabilities2_msgs::msg::Capability &  target, EventBase::event_callback_t  event_cb  )

inlineprotected

make EventNode::add_connection public method on runner api.

add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is: "bond_id/trigger_id" which allows event emission to extract bond_id for access control

Parameters

connection_id	unique identifier for the connection (format: "bond_id/trigger_id")
type	type of event to connect to
target	target capability to connect to
event_cb	callback to trigger target capability with (capability, parameters, bond_id, target_instance_id)

Exceptions

event_exception

if connection with given id already exists

clear_connections()

void capabilities2_events::EventNode::clear_connections ( )

inlineprotected

clear all connections from this event node

connection_count()

size_t capabilities2_events::EventNode::connection_count ( ) const

inlineprotected

current connection count

Returns

size_t

emit_event()

void capabilities2_events::EventNode::emit_event ( const std::string &  bond_id, const std::string &  instance_id, const uint8_t &  event_type, capabilities2_events::EventParameters  parameters = capabilities2_events::EventParameters()  )

inline

emit an event from this event node to all matching connections

event handling

Parameters

bond_id	the bond_id to match connections with (extracted from connection_id) for access control
event_type	the type of event being emitted
msg_parameters	the new parameters to emit with the event

get_id()

const std::string & capabilities2_events::EventNode::get_id ( ) const

inlineprotected

unique id of this event node

Returns

const std::string&

get_source()

const capabilities2_msgs::msg::Capability & capabilities2_events::EventNode::get_source ( ) const

inlineprotected

source capability of this event node

Returns

const capabilities2_msgs::msg::Capability&

has_connection()

bool capabilities2_events::EventNode::has_connection ( const std::string &  connection_id ) const

inlineprotected

Check if a connection exists.

Parameters

connection_id

Returns

true

false

is_event_emitter_set()

bool capabilities2_events::EventNode::is_event_emitter_set ( ) const

inlineprotected

event emitter is set on this node

list_connections()

std::vector< capabilities2_msgs::msg::CapabilityConnection > capabilities2_events::EventNode::list_connections ( ) const

inlineprotected

List all connections from this event node.

Returns

std::vector<capabilities2_msgs::msg::CapabilityConnection>

remove_connection()

void capabilities2_events::EventNode::remove_connection ( const std::string &  connection_id )

inlineprotected

Remove a connection by its id.

Parameters

connection_id

set_event_emitter()

void capabilities2_events::EventNode::set_event_emitter ( std::shared_ptr< EventBase >  event_emitter )

inlineprotected

event emitter for this event node

allows late binding of event emitter (when a node is initialized)

Parameters

event_emitter

set_source()

void capabilities2_events::EventNode::set_source ( const capabilities2_msgs::msg::Capability &  src )

inlineprotected

Set the source object.

Parameters

src

Member Data Documentation

connections_

std::map<std::string, EventPipe> capabilities2_events::EventNode::connections_

private

event_emitter_

std::shared_ptr<EventBase> capabilities2_events::EventNode::event_emitter_

private

id_

std::string capabilities2_events::EventNode::id_

private

source_

capabilities2_msgs::msg::Capability capabilities2_events::EventNode::source_

private

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

• capabilities2_events/include/capabilities2_events/event_node.hpp