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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>Terra: FabricTestNode Class Reference</title>
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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pri-types">Private Types</a> |
<a href="#pri-attribs">Private Attributes</a> |
<a href="classFabricTestNode-members.html">List of all members</a> </div>
<div class="headertitle"><div class="title">FabricTestNode Class Reference</div></div>
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<p>this node provides a simple test of dependency management and fault handling.
<a href="classFabricTestNode.html#details">More...</a></p>
<p><code>#include <<a class="el" href="fabric__test__node_8hpp_source.html">fabric_test_node.hpp</a>></code></p>
<div class="dynheader">
Inheritance diagram for FabricTestNode:</div>
<div class="dyncontent">
<div class="center"><img src="classFabricTestNode__inherit__graph.png" border="0" usemap="#aFabricTestNode_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<div class="dynheader">
Collaboration diagram for FabricTestNode:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ac20bfe33e10629a42d4654428ab4ce19"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#ac20bfe33e10629a42d4654428ab4ce19">FabricTestNode</a> (const std::optional< <a class="el" href="structcmr_1_1fabric_1_1FabricNodeConfig.html">cmr::fabric::FabricNodeConfig</a> > &config=std::nullopt)</td></tr>
<tr class="separator:ac20bfe33e10629a42d4654428ab4ce19"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a5fad657e9c6844011fcc71682480a852"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a5fad657e9c6844011fcc71682480a852">configure</a> (const std::shared_ptr< toml::Table > &) override</td></tr>
<tr class="memdesc:a5fad657e9c6844011fcc71682480a852"><td class="mdescLeft"> </td><td class="mdescRight">Derived class hook for configuring the node. <a href="classFabricTestNode.html#a5fad657e9c6844011fcc71682480a852">More...</a><br /></td></tr>
<tr class="separator:a5fad657e9c6844011fcc71682480a852"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0ae429c0522cd7e890a557a17b0f31fb"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a0ae429c0522cd7e890a557a17b0f31fb">activate</a> () override</td></tr>
<tr class="memdesc:a0ae429c0522cd7e890a557a17b0f31fb"><td class="mdescLeft"> </td><td class="mdescRight">Derived class hook for activation. <a href="classFabricTestNode.html#a0ae429c0522cd7e890a557a17b0f31fb">More...</a><br /></td></tr>
<tr class="separator:a0ae429c0522cd7e890a557a17b0f31fb"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a5ba62881c8daef7926382c7640e8b267"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a5ba62881c8daef7926382c7640e8b267">deactivate</a> () override</td></tr>
<tr class="memdesc:a5ba62881c8daef7926382c7640e8b267"><td class="mdescLeft"> </td><td class="mdescRight">Derived class hook for deactivation. <a href="classFabricTestNode.html#a5ba62881c8daef7926382c7640e8b267">More...</a><br /></td></tr>
<tr class="separator:a5ba62881c8daef7926382c7640e8b267"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a5fd2b502118f97efb318a45c44fcf76b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a5fd2b502118f97efb318a45c44fcf76b">cleanup</a> () override</td></tr>
<tr class="memdesc:a5fd2b502118f97efb318a45c44fcf76b"><td class="mdescLeft"> </td><td class="mdescRight">Derived class hook for cleanup. <a href="classFabricTestNode.html#a5fd2b502118f97efb318a45c44fcf76b">More...</a><br /></td></tr>
<tr class="separator:a5fd2b502118f97efb318a45c44fcf76b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_methods_classcmr_1_1fabric_1_1FabricNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcmr_1_1fabric_1_1FabricNode')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classcmr_1_1fabric_1_1FabricNode.html">cmr::fabric::FabricNode</a></td></tr>
<tr class="memitem:a5ce52f1627fc350def4283fa890ddf7b inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#a5ce52f1627fc350def4283fa890ddf7b">FabricNode</a> (const std::optional< <a class="el" href="structcmr_1_1fabric_1_1FabricNodeConfig.html">FabricNodeConfig</a> > &config=std::nullopt, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())</td></tr>
<tr class="separator:a5ce52f1627fc350def4283fa890ddf7b inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:afa740dc1f6969061fecb33c29909e52e inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#afa740dc1f6969061fecb33c29909e52e">FabricNode</a> (std::optional< <a class="el" href="structcmr_1_1fabric_1_1FabricNodeConfig.html">FabricNodeConfig</a> > &&config=std::nullopt)</td></tr>
<tr class="separator:afa740dc1f6969061fecb33c29909e52e inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a6990e1ee45647451ed8197335ac0bd38 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#a6990e1ee45647451ed8197335ac0bd38">~FabricNode</a> () override</td></tr>
<tr class="separator:a6990e1ee45647451ed8197335ac0bd38 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1e22e6a16afd29dfc62e5a477d08d0a0 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#a1e22e6a16afd29dfc62e5a477d08d0a0">FabricNode</a> (const <a class="el" href="classcmr_1_1fabric_1_1FabricNode.html">FabricNode</a> &)=delete</td></tr>
<tr class="separator:a1e22e6a16afd29dfc62e5a477d08d0a0 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a889f3295dc246772c88214a5aa233a78 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html">FabricNode</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#a889f3295dc246772c88214a5aa233a78">operator=</a> (const <a class="el" href="classcmr_1_1fabric_1_1FabricNode.html">FabricNode</a> &)=delete</td></tr>
<tr class="separator:a889f3295dc246772c88214a5aa233a78 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa7910fdc46a519e15a626719532944e4 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#aa7910fdc46a519e15a626719532944e4">FabricNode</a> (<a class="el" href="classcmr_1_1fabric_1_1FabricNode.html">FabricNode</a> &&)=delete</td></tr>
<tr class="separator:aa7910fdc46a519e15a626719532944e4 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9d1f7fe042131d7ad83966888503f558 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html">FabricNode</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#a9d1f7fe042131d7ad83966888503f558">operator=</a> (<a class="el" href="classcmr_1_1fabric_1_1FabricNode.html">FabricNode</a> &&)=delete</td></tr>
<tr class="separator:a9d1f7fe042131d7ad83966888503f558 inherit pub_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-types" name="pri-types"></a>
Private Types</h2></td></tr>
<tr class="memitem:a10817e7b0fd143254e8968be3b2ec564"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a10817e7b0fd143254e8968be3b2ec564">target_pos_t</a> = cmr_msgs::action::TestTargetPosition</td></tr>
<tr class="separator:a10817e7b0fd143254e8968be3b2ec564"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a79de707c771ffdaa5c77b65e2e2aa715"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a79de707c771ffdaa5c77b65e2e2aa715">target_pos_goal_t</a> = target_pos_t::Goal</td></tr>
<tr class="separator:a79de707c771ffdaa5c77b65e2e2aa715"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab262fe754bbcb37d583961bbf4c1c908"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#ab262fe754bbcb37d583961bbf4c1c908">target_pos_handle_t</a> = rclcpp_action::ServerGoalHandle< <a class="el" href="classFabricTestNode.html#a10817e7b0fd143254e8968be3b2ec564">target_pos_t</a> ></td></tr>
<tr class="separator:ab262fe754bbcb37d583961bbf4c1c908"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a0cb3a6c48bb52b21794970081de8ff4c"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< rclcpp::Service< cmr_msgs::srv::ActivateNode > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a0cb3a6c48bb52b21794970081de8ff4c">m_sub</a></td></tr>
<tr class="separator:a0cb3a6c48bb52b21794970081de8ff4c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae73d76813b80b7d1bae675561aa99fc0"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< rclcpp::Service< cmr_msgs::srv::ActivateNode > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#ae73d76813b80b7d1bae675561aa99fc0">m_fail_activate_srv</a></td></tr>
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<tr class="memitem:a97b3627162138e77d7b9aa9f024324c6"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a97b3627162138e77d7b9aa9f024324c6">m_fail_activate</a> = false</td></tr>
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<tr class="memitem:af8223fab079782e405b026a12e41e237"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacecmr_1_1fabric.html#a841cb0d434fcebd500028d09e2464db1">cmr::fabric::LifecycleSubscription</a>< std_msgs::msg::Bool >::ptr_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#af8223fab079782e405b026a12e41e237">m_test_sub</a></td></tr>
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<tr class="memitem:ab69466348575676dee76fdf9701104dc"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< std_msgs::msg::Bool > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#ab69466348575676dee76fdf9701104dc">m_test_pub</a></td></tr>
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<tr class="memitem:aefea5c684fb661da20e356f78fdf0f1c"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< std_msgs::msg::Bool > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#aefea5c684fb661da20e356f78fdf0f1c">m_timer_pub</a></td></tr>
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<tr class="memitem:a8ce46efc43f809f8f9a228560fb39325"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classcmr_1_1fabric_1_1LifecycleClient.html">cmr::fabric::LifecycleClient</a>< cmr_msgs::srv::ActivateNode >::ptr_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a8ce46efc43f809f8f9a228560fb39325">m_test_client</a></td></tr>
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<tr class="memitem:a7227971e4ceaa7eb3bb1625844754241"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacecmr_1_1fabric.html#a10ee3ecb9332a6f6a6a0c8c3e2f7c7c2">cmr::fabric::LifecycleService</a>< cmr_msgs::srv::ActivateNode >::ptr_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classFabricTestNode.html#a7227971e4ceaa7eb3bb1625844754241">m_test_service</a></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_methods_classcmr_1_1fabric_1_1FabricNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcmr_1_1fabric_1_1FabricNode')"><img src="closed.png" alt="-"/> Protected Member Functions inherited from <a class="el" href="classcmr_1_1fabric_1_1FabricNode.html">cmr::fabric::FabricNode</a></td></tr>
<tr class="memitem:a79f1e678292a21ef3d81193928eae896 inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#a79f1e678292a21ef3d81193928eae896">error_transition</a> ()</td></tr>
<tr class="memdesc:a79f1e678292a21ef3d81193928eae896 inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="mdescLeft"> </td><td class="mdescRight">Transitions us to the error state and schedules a restart. <a href="classcmr_1_1fabric_1_1FabricNode.html#a79f1e678292a21ef3d81193928eae896">More...</a><br /></td></tr>
<tr class="separator:a79f1e678292a21ef3d81193928eae896 inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab4db5622ced88e33d4372dd8414ae5be inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#ab4db5622ced88e33d4372dd8414ae5be">schedule_restart</a> ()</td></tr>
<tr class="memdesc:ab4db5622ced88e33d4372dd8414ae5be inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="mdescLeft"> </td><td class="mdescRight">Schedules a restart by sending a request to the fault handler. <a href="classcmr_1_1fabric_1_1FabricNode.html#ab4db5622ced88e33d4372dd8414ae5be">More...</a><br /></td></tr>
<tr class="separator:ab4db5622ced88e33d4372dd8414ae5be inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaf70c37e7bc79da5a6dc61416f68cc26c inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplParams" colspan="2">template<typename MessageT , typename FuncT > </td></tr>
<tr class="memitem:gaf70c37e7bc79da5a6dc61416f68cc26c inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplItemLeft" align="right" valign="top">auto </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__LifecycleFactory.html#gaf70c37e7bc79da5a6dc61416f68cc26c">create_lifecycle_subscription</a> (const std::string &topic, const rclcpp::QoS &qos, FuncT &&callback, const rclcpp::SubscriptionOptionsWithAllocator< std::allocator< void > > &options=rclcpp::SubscriptionOptionsWithAllocator< std::allocator< void > >())</td></tr>
<tr class="memdesc:gaf70c37e7bc79da5a6dc61416f68cc26c inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="mdescLeft"> </td><td class="mdescRight">Create a lifecycle subscription object that can be activated and deactivated and will call the fabric node error transition when an exception is thrown from the callback. <a href="group__LifecycleFactory.html#gaf70c37e7bc79da5a6dc61416f68cc26c">More...</a><br /></td></tr>
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<tr class="memitem:ga8ef5befb16a9c525d3d969e88aa630c6 inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplParams" colspan="2">template<typename MessageT > </td></tr>
<tr class="memitem:ga8ef5befb16a9c525d3d969e88aa630c6 inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplItemLeft" align="right" valign="top">auto </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__LifecycleFactory.html#ga8ef5befb16a9c525d3d969e88aa630c6">create_lifecycle_publisher</a> (const std::string &topic_name, const rclcpp::QoS &qos)</td></tr>
<tr class="memdesc:ga8ef5befb16a9c525d3d969e88aa630c6 inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="mdescLeft"> </td><td class="mdescRight">Create a lifecycle publisher object that can be activated and deactivated. <a href="group__LifecycleFactory.html#ga8ef5befb16a9c525d3d969e88aa630c6">More...</a><br /></td></tr>
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<tr class="memitem:gabf02f0a8cba39e118fc233c132afb7ef inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplParams" colspan="2">template<typename ServiceT > </td></tr>
<tr class="memitem:gabf02f0a8cba39e118fc233c132afb7ef inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplItemLeft" align="right" valign="top">auto </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__LifecycleFactory.html#gabf02f0a8cba39e118fc233c132afb7ef">create_lifecycle_client</a> (const std::string &service_name, const rmw_qos_profile_t &qos_profile=rmw_qos_profile_services_default)</td></tr>
<tr class="memdesc:gabf02f0a8cba39e118fc233c132afb7ef inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="mdescLeft"> </td><td class="mdescRight">Create a lifecycle client object that can be activated and deactivated. <a href="group__LifecycleFactory.html#gabf02f0a8cba39e118fc233c132afb7ef">More...</a><br /></td></tr>
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<tr class="memitem:ga4ee95a0065990cb54711b21679fbbe2a inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplParams" colspan="2">template<typename ServiceT , typename FuncT > </td></tr>
<tr class="memitem:ga4ee95a0065990cb54711b21679fbbe2a inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplItemLeft" align="right" valign="top">auto </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__LifecycleFactory.html#ga4ee95a0065990cb54711b21679fbbe2a">create_lifecycle_service</a> (const std::string &service_name, FuncT &&callback, const rmw_qos_profile_t &qos_profile=rmw_qos_profile_services_default, const rclcpp::CallbackGroup::SharedPtr group=nullptr)</td></tr>
<tr class="memdesc:ga4ee95a0065990cb54711b21679fbbe2a inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="mdescLeft"> </td><td class="mdescRight">Create a lifecycle service listener that can be activated and deactivated and will call the fabric node error transition when an exception is thrown from the callback. <a href="group__LifecycleFactory.html#ga4ee95a0065990cb54711b21679fbbe2a">More...</a><br /></td></tr>
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<tr class="memitem:gab5ace663bd452fef6488410149a73e6c inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplParams" colspan="2">template<typename CallbackT , typename RepT , typename PeriodT > </td></tr>
<tr class="memitem:gab5ace663bd452fef6488410149a73e6c inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="memTemplItemLeft" align="right" valign="top">auto </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__LifecycleFactory.html#gab5ace663bd452fef6488410149a73e6c">create_lifecycle_timer</a> (const std::chrono::duration< RepT, PeriodT > &period, CallbackT &&callback)</td></tr>
<tr class="memdesc:gab5ace663bd452fef6488410149a73e6c inherit pro_methods_classcmr_1_1fabric_1_1FabricNode"><td class="mdescLeft"> </td><td class="mdescRight">Create a lifecycle timer object that can be activated and deactivated and will call the fabric node error transition when an exception is thrown. <a href="group__LifecycleFactory.html#gab5ace663bd452fef6488410149a73e6c">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p >this node provides a simple test of dependency management and fault handling. </p>
<p >It provides one topic, /kill, which, will cause the node to trigger the fault handler </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a79de707c771ffdaa5c77b65e2e2aa715">◆ </a></span>target_pos_goal_t</h2>
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<td class="memname">using <a class="el" href="classFabricTestNode.html#a79de707c771ffdaa5c77b65e2e2aa715">FabricTestNode::target_pos_goal_t</a> = target_pos_t::Goal</td>
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<td class="memname">using <a class="el" href="classFabricTestNode.html#ab262fe754bbcb37d583961bbf4c1c908">FabricTestNode::target_pos_handle_t</a> = rclcpp_action::ServerGoalHandle<<a class="el" href="classFabricTestNode.html#a10817e7b0fd143254e8968be3b2ec564">target_pos_t</a>></td>
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<td class="memname">using <a class="el" href="classFabricTestNode.html#a10817e7b0fd143254e8968be3b2ec564">FabricTestNode::target_pos_t</a> = cmr_msgs::action::TestTargetPosition</td>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ac20bfe33e10629a42d4654428ab4ce19">◆ </a></span>FabricTestNode()</h2>
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<td class="memname">FabricTestNode::FabricTestNode </td>
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<td class="paramtype">const std::optional< <a class="el" href="structcmr_1_1fabric_1_1FabricNodeConfig.html">cmr::fabric::FabricNodeConfig</a> > & </td>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a0ae429c0522cd7e890a557a17b0f31fb">◆ </a></span>activate()</h2>
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<td class="memname">bool FabricTestNode::activate </td>
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<p>Derived class hook for activation. </p>
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<p >‍This method is expected to do any final preparations to start executing. This may include acquiring resources that are only held while the node is actually active, such as access to hardware. Ideally, no preparation that requires significant time (such as lengthy hardware initialisation) should be performed in this callback. </p>
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<p>This method MUST have the strong error guarantee. If it returns false, or an exception is thrown <code><a class="el" href="classFabricTestNode.html#a5ba62881c8daef7926382c7640e8b267" title="Derived class hook for deactivation.">deactivate()</a></code> will NOT be called.</p>
<dl class="section see"><dt>See also</dt><dd><code>FabricNode::deactivate</code> </dd></dl>
<dl class="section return"><dt>Returns</dt><dd>true on success, false otherwise which will cause transition to <code>ErrorProcessing</code> </dd></dl>
<p>Implements <a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#aff5b4793c28f24c4d73bf670027d6286">cmr::fabric::FabricNode</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a5fd2b502118f97efb318a45c44fcf76b">◆ </a></span>cleanup()</h2>
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<td class="memname">bool FabricTestNode::cleanup </td>
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<p>Derived class hook for cleanup. </p>
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<p >‍This method is expected to clear all state and return the node to a functionally equivalent state as when first created. If the cleanup cannot be successfully achieved it will transition to <code>ErrorProcessing</code> </p>
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<p>This should essentially undo <code><a class="el" href="classFabricTestNode.html#a5fad657e9c6844011fcc71682480a852" title="Derived class hook for configuring the node.">configure()</a></code></p>
<dl class="section return"><dt>Returns</dt><dd>true on success, false otherwise which will cause transition to <code>ErrorProcessing</code> </dd></dl>
<p>Implements <a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#a22f6de1d15628cb116aeb7c13b7a26b3">cmr::fabric::FabricNode</a>.</p>
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<td class="memname">bool FabricTestNode::configure </td>
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<p>Derived class hook for configuring the node. </p>
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<p >‍callback will be called to allow the node to load its configuration and conduct any required setup.</p>
<p >The configuration of a node will typically involve those tasks that must be performed once during the node’s life time, such as obtaining permanent memory buffers and setting up topic publications/subscriptions that do not change.</p>
<p >The node uses this to set up any resources it must hold throughout its life (irrespective of if it is active or inactive). As examples, such resources may include topic publications and subscriptions, memory that is held continuously, and initialising configuration parameters. </p>
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<dl class="section return"><dt>Returns</dt><dd>true on success, false otherwise which will cause transition to <code>ErrorProcessing</code> </dd></dl>
<p>Implements <a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#a48bff2e55c9f6a9838197ec4dae3f529">cmr::fabric::FabricNode</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a5ba62881c8daef7926382c7640e8b267">◆ </a></span>deactivate()</h2>
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<td class="memname">bool FabricTestNode::deactivate </td>
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<p>Derived class hook for deactivation. </p>
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<p >‍This method is expected to do any cleanup to start executing, and should reverse the <code><a class="el" href="classFabricTestNode.html#a0ae429c0522cd7e890a557a17b0f31fb" title="Derived class hook for activation.">activate()</a></code> changes </p>
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<dl class="section see"><dt>See also</dt><dd><code>FabricNode::activate</code> </dd></dl>
<dl class="section return"><dt>Returns</dt><dd>true on success, false otherwise which will cause transition to <code>ErrorProcessing</code> </dd></dl>
<p>Implements <a class="el" href="classcmr_1_1fabric_1_1FabricNode.html#a18d9dd0458e395d403f3cf48c457e4e1">cmr::fabric::FabricNode</a>.</p>
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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a97b3627162138e77d7b9aa9f024324c6">◆ </a></span>m_fail_activate</h2>
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<td class="memname">bool FabricTestNode::m_fail_activate = false</td>
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<td class="memname">std::shared_ptr<rclcpp::Service<cmr_msgs::srv::ActivateNode> > FabricTestNode::m_fail_activate_srv</td>
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<td class="memname"><a class="el" href="namespacecmr_1_1fabric.html#a148f297b88566b9cde7d85c6dc5bb293">cmr::fabric::LifecycleTimer</a><int64_t,std::milli>::ptr_t FabricTestNode::m_test_timer</td>
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<td class="memname">std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Bool> > FabricTestNode::m_timer_pub</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>src/cmr_fabric/test/<a class="el" href="fabric__test__node_8hpp_source.html">fabric_test_node.hpp</a></li>
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