.. _program_listing_file_include_smacc2_component.hpp:

Program Listing for File component.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_smacc2_component.hpp>` (``include/smacc2/component.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   #pragma once
   
   #include <string>
   
   #include <boost/optional.hpp>
   #include <smacc2/common.hpp>
   
   namespace smacc2
   {
   class ISmaccComponent
   {
   public:
     ISmaccComponent();
   
     virtual ~ISmaccComponent();
   
     // Returns a custom identifier defined by the specific plugin implementation
     virtual std::string getName() const;
   
   protected:
     // this is the basic initialization method that each specific component should
     // implement. The owner and the node are already available when it is invoked by the client.
     virtual void onInitialize();
   
     template <typename EventType>
     void postEvent(const EventType & ev);
   
     template <typename EventType>
     void postEvent();
   
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
     }
   
     template <typename TComponent>
     void requiresComponent(
       TComponent *& requiredComponentStorage, bool throwExceptionIfNotExist = false);
   
     template <typename TComponent>
     void requiresComponent(
       std::string name, TComponent *& requiredComponentStorage,
       bool throwExceptionIfNotExist = false);
   
     template <typename TClient>
     void requiresClient(TClient *& requiredClientStorage);
   
     template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
     SmaccComponentType * createSiblingComponent(TArgs... targs);
   
     template <typename SmaccComponentType, typename TOrthogonal, typename TClient, typename... TArgs>
     SmaccComponentType * createSiblingNamedComponent(std::string name, TArgs... targs);
   
     rclcpp::Node::SharedPtr getNode();
   
     rclcpp::Logger getLogger();
   
     //inline
     ISmaccStateMachine * getStateMachine();
   
     // A reference to the state machine object that owns this resource
     ISmaccStateMachine * stateMachine_;
   
     ISmaccClient * owner_;
   
   private:
     // friend method invoked by the client.
     void initialize(ISmaccClient * owner);
   
     // friend method invoked by the client.
     // Assigns the owner of this resource to the given state machine parameter object
     void setStateMachine(ISmaccStateMachine * stateMachine);
   
     friend class ISmaccOrthogonal;
     friend class ISmaccClient;
   };
   }  // namespace smacc2