The AbstractRecoveryExecution class loads and binds the recovery behavior plugin. It contains a thread running the plugin, executing the recovery behavior. An internal state is saved and will be pulled by the server, which controls the recovery behavior execution. Due to a state change it wakes up all threads connected to the condition variable. More...

#include <abstract_recovery_execution.h>

Inheritance diagram for mbf_abstract_nav::AbstractRecoveryExecution:

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Public Types
typedef boost::shared_ptr< AbstractRecoveryExecution >	Ptr

enum	RecoveryState { INITIALIZED, STARTED, RECOVERING, WRONG_NAME, RECOVERY_DONE, CANCELED, STOPPED, INTERNAL_ERROR }
	internal state. More...

Public Member Functions
	AbstractRecoveryExecution (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config)
	Constructor. More...

virtual bool	cancel ()
	Cancel the planner execution. This calls the cancel method of the planner plugin. This could be useful if the computation takes too much time, or if we are aborting the navigation. More...

AbstractRecoveryExecution::RecoveryState	getState ()
	Returns the current state, thread-safe communication. More...

bool	isPatienceExceeded ()
	Checks whether the patience was exceeded. More...

void	reconfigure (const MoveBaseFlexConfig &config)
	Reconfigures the current configuration and reloads all parameters. This method is called from a dynamic reconfigure tool. More...

virtual	~AbstractRecoveryExecution ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase
	AbstractExecutionBase (const std::string &name)

const std::string &	getMessage () const
	Gets the current plugin execution message. More...

const std::string &	getName () const
	Returns the name of the corresponding plugin. More...

uint32_t	getOutcome () const
	Gets the current plugin execution outcome. More...

void	join ()

virtual void	postRun ()
	Optional implementation-specific cleanup function, called right after execution. More...

virtual void	preRun ()
	Optional implementation-specific setup function, called right before execution. More...

virtual void	reconfigure (MoveBaseFlexConfig &_cfg)
	Optional implementaiton-specific configuration function. More...

virtual bool	start ()

virtual void	stop ()

boost::cv_status	waitForStateUpdate (boost::chrono::microseconds const &duration)

virtual	~AbstractExecutionBase ()

Protected Member Functions
virtual void	run ()
	Main execution method which will be executed by the recovery execution thread_. More...

Protected Attributes
mbf_abstract_core::AbstractRecovery::Ptr	behavior_
	the current loaded recovery behavior More...

const TFPtr	tf_listener_ptr_
	shared pointer to common TransformListener More...

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
bool	cancel_
	flag for canceling controlling More...

boost::condition_variable	condition_
	condition variable to wake up control thread More...

std::string	message_
	the last received plugin execution message More...

std::string	name_
	the plugin name; not the plugin type! More...

uint32_t	outcome_
	the last received plugin execution outcome More...

boost::thread	thread_
	the controlling thread object More...

Private Member Functions
void	setState (RecoveryState state)
	Sets the current internal state. This method is thread communication safe. More...

Private Attributes
boost::mutex	conf_mtx_
	dynamic reconfigure and start time mutexes to mutually exclude read/write configuration More...

ros::Duration	patience_
	recovery behavior allowed time More...

ros::Time	start_time_
	recovery behavior start time More...

RecoveryState	state_
	current internal state More...

boost::mutex	state_mtx_
	mutex to handle safe thread communication for the current state More...

boost::mutex	time_mtx_

Detailed Description

The AbstractRecoveryExecution class loads and binds the recovery behavior plugin. It contains a thread running the plugin, executing the recovery behavior. An internal state is saved and will be pulled by the server, which controls the recovery behavior execution. Due to a state change it wakes up all threads connected to the condition variable.

Definition at line 74 of file abstract_recovery_execution.h.

Member Typedef Documentation

◆ Ptr

typedef boost::shared_ptr<AbstractRecoveryExecution > mbf_abstract_nav::AbstractRecoveryExecution::Ptr

Definition at line 78 of file abstract_recovery_execution.h.

Member Enumeration Documentation

◆ RecoveryState

enum mbf_abstract_nav::AbstractRecoveryExecution::RecoveryState

internal state.

Enumerator
INITIALIZED	The recovery execution has been initialized.
STARTED	The recovery execution thread has been started.
RECOVERING	The recovery behavior plugin is running.
WRONG_NAME	The given name could not be associated with a load behavior.
RECOVERY_DONE	The recovery behavior execution is done.
CANCELED	The recovery execution was canceled.
STOPPED	The recovery execution has been stopped.
INTERNAL_ERROR	An internal error occurred.

Definition at line 111 of file abstract_recovery_execution.h.

Constructor & Destructor Documentation

◆ AbstractRecoveryExecution()

mbf_abstract_nav::AbstractRecoveryExecution::AbstractRecoveryExecution	(	const std::string &	name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	recovery_ptr,
		const TFPtr &	tf_listener_ptr,
		const MoveBaseFlexConfig &	config
	)

Constructor.

Parameters

condition	Thread sleep condition variable, to wake up connected threads
tf_listener_ptr	Shared pointer to a common tf listener

Definition at line 48 of file abstract_recovery_execution.cpp.

◆ ~AbstractRecoveryExecution()

mbf_abstract_nav::AbstractRecoveryExecution::~AbstractRecoveryExecution ( )

virtual

Destructor.

Definition at line 60 of file abstract_recovery_execution.cpp.

Member Function Documentation

◆ cancel()

bool mbf_abstract_nav::AbstractRecoveryExecution::cancel ( )

virtual

Cancel the planner execution. This calls the cancel method of the planner plugin. This could be useful if the computation takes too much time, or if we are aborting the navigation.