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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List of all members.

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, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor.
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.
AbstractRecoveryExecution::RecoveryState	getState ()
	Returns the current state, thread-safe communication.
bool	isPatienceExceeded ()
	Checks whether the patience was exceeded.
void	reconfigure (const MoveBaseFlexConfig &config)
	Reconfigures the current configuration and reloads all parameters. This method is called from a dynamic reconfigure tool.
virtual	~AbstractRecoveryExecution ()
	Destructor.
Protected Member Functions
virtual void	run ()
	Main execution method which will be executed by the recovery execution thread_.
Protected Attributes
mbf_abstract_core::AbstractRecovery::Ptr	behavior_
	the current loaded recovery behavior
const TFPtr	tf_listener_ptr_
	shared pointer to common TransformListener
Private Member Functions
void	setState (RecoveryState state)
	Sets the current internal state. This method is thread communication safe.
Private Attributes
boost::mutex	conf_mtx_
	dynamic reconfigure and start time mutexes to mutually exclude read/write configuration
ros::Duration	patience_
	recovery behavior allowed time
ros::Time	start_time_
	recovery behavior start time
RecoveryState	state_
	current internal state
boost::mutex	state_mtx_
	mutex to handle safe thread communication for the current state
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 76 of file abstract_recovery_execution.h.

Member Typedef Documentation

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

Definition at line 80 of file abstract_recovery_execution.h.

Member Enumeration Documentation

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 115 of file abstract_recovery_execution.h.

Constructor & Destructor Documentation

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,
		boost::function< void()>	setup_fn,
		boost::function< void()>	cleanup_fn
	)