Class for adding node lifecycle to ROS processes. More...

#include <robot_process.h>

Inheritance diagram for robot_process::RobotProcess:

Public Member Functions
std::string	getNamespace () const
	Returns the full private namespace.
State	getState ()
	Returns the current state.
RobotProcess &	init (bool autostart=false)
	Initializes the RobotProcess.
	RobotProcess ()
	Default constructor is deleted.
	RobotProcess (int argc, char *argv[], const std::string &name_space=std::string(), const std::string &name=std::string())
	Constructor.
void	run (uint8_t threads=0)
	Spins an amount of threads to serve the global callback queue. The call is blocking.
void	runAsync (uint8_t threads=0)
	Spins an amount of threads to serve the global callback queue. The call is non-blocking.
virtual	~RobotProcess ()
	Virtual destructor.
Protected Member Functions
void	notifyError (uint8_t error_type, const std::string &function, const std::string &description)
	Sends an error message to a global error topic "/error".
void	registerIsolatedTimer (const IsolatedAsyncTimer::LambdaCallback &callback, const float &frequency, bool stoppable=true)
	Register an isolated async timer.
Protected Attributes
ros::NodeHandlePtr	node_handle_
ros::NodeHandlePtr	node_handle_private_
Private Types
typedef boost::function< bool(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) >	EmptyServiceCallback
typedef void(RobotProcess::*	MemberLambdaCallback )()
typedef State	StateTransitionPaths [static_cast< uint8_t >(State::Count)][static_cast< uint8_t >(State::Count)]
typedef MemberLambdaCallback	StateTransitions [static_cast< uint8_t >(State::Count)][static_cast< uint8_t >(State::Count)]
Private Member Functions
void	changeState (const State &new_state)
	Changes state from current to new. Direct transition must exist. The appropriate function will be called during transition.
void	configure ()
	Called automatically, when transition from UNCONFIGURED to STOPPED.
void	create ()
	Called automatically, when transition from LAUNCHING to UNCONFIGURED.
void	notifyState () const
	Sends a heartbeat message with the current state.
virtual void	onConfigure ()=0
	Function to be defined by the user. Called at the end of transition from UNCONFIGURED to STOPPED.
virtual void	onCreate ()=0
	Function to be defined by the user. Called at the end of transition from LAUNCHING to UNCONFIGURED.
virtual void	onPause ()=0
	Function to be defined by the user. Called at the end of transition from RUNNING to PAUSED.
virtual void	onResume ()=0
	Function to be defined by the user. Called at the end of transition from PAUSED to RUNNING.
virtual void	onStart ()=0
	Function to be defined by the user. Called at the end of transition from STOPPED to PAUSED.
virtual void	onStop ()=0
	Function to be defined by the user. Called at the end of transition from PAUSED to STOPPED.
virtual void	onTerminate ()=0
	Function to be defined by the user. Called at the end of transition from UNCONFIGURED to TERMINATED.
virtual void	onUnconfigure ()=0
	Function to be defined by the user. Called at the end of transition from STOPPED to UNCONFIGURED.
void	pause ()
	Called automatically, when transition from RUNNING to PAUSED.
ros::ServiceServer	registerStateChangeRequest (const std::string &service_name, const std::vector< State > &states)
	Registers a ROS service server listening for state change requests.
void	resume ()
	Called automatically, when transition from PAUSED to RUNNING.
void	start ()
	Called automatically, when transition from STOPPED to PAUSED.
void	stop ()
	Called automatically, when transition from PAUSED to STOPPED.
void	terminate ()
	Called automatically, when transition from UNCONFIGURED to TERMINATED.
bool	transitionToState (const State &new_state)
	Transitions to a new state. Path must exists between the current and the new state. All appropriate function will be called when transition to the goal state.
void	unconfigure ()
	Called automatically, when transition from STOPPED to UNCONFIGURED.
Private Attributes
bool	autostart_ = false
	Whether to automatically start (transition to RUNNING) at the end of init function if not the node will transition to STOPPED state.
bool	autostart_after_reconfigure_ = false
	Whether to autostart after reconfigure service is called.
State	current_state_ = State::LAUNCHING
	Current state of the RobotProcess. Initially, LAUNCHING state.
std::shared_ptr < ros::AsyncSpinner >	global_callback_queue_spinner_
	Shared pointer to async spinner that serves the global callback queue.
std::shared_ptr < robot_process::IsolatedAsyncTimer >	heartbeat_timer_
	Shared pointer to the isolated timer that sends heartbeat messages.
std::string	node_name_
	Name of the actual ROS node.
std::string	node_namespace_
	Node's namespace, if empty then the private node handle resolves to ~ otheerwise private node handle resolves to ~node_namespace.
ros::ServiceServer	pause_server_
	ServiceServer for serving pause service.
ros::Publisher	process_error_pub_
	ROS Publisher of error messages.
ros::Publisher	process_state_pub_
	ROS Publisher of heartbeat messages and state changes messages.
std::vector< std::shared_ptr < robot_process::IsolatedAsyncTimer > >	process_timers_
	Vector of shared pointers to isolated timers created by register isolated timer.
ros::ServiceServer	reconfigure_server_
	ServiceServer for serving reconfigure service.
ros::ServiceServer	restart_server_
	ServiceServer for serving restart service, where restart means transition to STOPPED and then RUNNING.
ros::ServiceServer	start_server_
	ServiceServer for serving start service.
ros::CallbackQueue	state_request_callback_queue_
	Callback queue for state change request services.
std::shared_ptr < ros::AsyncSpinner >	state_request_spinner_
	Async spinner for serving state change requests.
ros::ServiceServer	stop_server_
	ServiceServer for serving stop service.
ros::ServiceServer	terminate_server_
	ServiceServer for serving terminate service.
bool	wait_for_supervisor_ = true
	Whether to wait for the supervisor during the init function. Waiting means that there has to be at least one subscriber of the hearthbeat topic.
Static Private Attributes
static const StateTransitions	STATE_TRANSITIONS
	2D array of direct state transitions with values being the corresponding functions to be called during that transition. First index signifies the state we are transitioning from, while the second index signifies the state we are transitioning to.
static const StateTransitionPaths	STATE_TRANSITIONS_PATHS
	2D array of paths between states.

Detailed Description

Class for adding node lifecycle to ROS processes.

Definition at line 91 of file robot_process.h.

Member Typedef Documentation

typedef boost::function< bool( std_srvs::Empty::Request& req, std_srvs::Empty::Response& res) > robot_process::RobotProcess::EmptyServiceCallback [private]

Definition at line 432 of file robot_process.h.

typedef void(RobotProcess::* robot_process::RobotProcess::MemberLambdaCallback)() [private]

Definition at line 428 of file robot_process.h.

typedef State robot_process::RobotProcess::StateTransitionPaths[static_cast< uint8_t >(State::Count)][static_cast< uint8_t >(State::Count)] [private]

Definition at line 439 of file robot_process.h.

typedef MemberLambdaCallback robot_process::RobotProcess::StateTransitions[static_cast< uint8_t >(State::Count)][static_cast< uint8_t >(State::Count)] [private]

Definition at line 435 of file robot_process.h.

Constructor & Destructor Documentation

robot_process::RobotProcess::RobotProcess ( )

Default constructor is deleted.

robot_process::RobotProcess::RobotProcess	(	int	argc,
		char *	argv[],
		const std::string &	name_space = `std::string()`,
		const std::string &	name = `std::string()`
	)

Constructor.

UNIX process args are passed in due to ros::init being called inside. name_space allows for running multiple instances of the same class or multiple RobotProcess classes in the same UNIX process without name collisions. name argument is the name passed in to ros::init, which is usually remapped in roslaunch. If name is empty and name is not remapped, then anonymous name will be created.

Definition at line 48 of file robot_process.cpp.

robot_process::RobotProcess::~RobotProcess ( ) [virtual]

Virtual destructor.

Definition at line 70 of file robot_process.cpp.

Member Function Documentation

void robot_process::RobotProcess::changeState ( const State & new_state ) [private]

Changes state from current to new. Direct transition must exist. The appropriate function will be called during transition.

Parameters:

new_state State to transition to.

Definition at line 329 of file robot_process.cpp.

void robot_process::RobotProcess::configure ( ) [private]

Called automatically, when transition from UNCONFIGURED to STOPPED.

Definition at line 213 of file robot_process.cpp.

void robot_process::RobotProcess::create ( ) [private]

Called automatically, when transition from LAUNCHING to UNCONFIGURED.

Definition at line 199 of file robot_process.cpp.

std::string robot_process::RobotProcess::getNamespace ( ) const

Returns the full private namespace.

Returns the full private namespace, meaning name of the actual ROS node together with the name_space argument passed during construction.

Returns:: Returned namespace

Definition at line 190 of file robot_process.cpp.

State robot_process::RobotProcess::getState ( )

Returns the current state.

Returns:: State that the node is in

Definition at line 154 of file robot_process.cpp.

RobotProcess & robot_process::RobotProcess::init ( bool autostart = false )

Initializes the RobotProcess.

Creates node handles, starts heartbeat thread, advertises state change request services, waits for the supervisor if requested

Parameters:

autostart If true, transitions immediately to RUNNING state

Returns:: Returns a reference to itself for method chaning

Definition at line 75 of file robot_process.cpp.

void robot_process::RobotProcess::notifyError	(	uint8_t	error_type,
		const std::string &	function,
		const std::string &	description
	)		`[protected]`

Sends an error message to a global error topic "/error".

Ideally the

Parameters:

error_type	Type of error
function	Function, where the error was caused
description	Detailed description of the error

Definition at line 159 of file robot_process.cpp.

void robot_process::RobotProcess::notifyState ( ) const [private]

Sends a heartbeat message with the current state.

Definition at line 295 of file robot_process.cpp.

virtual void robot_process::RobotProcess::onConfigure ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from UNCONFIGURED to STOPPED.

Implemented in robot_process::ManagedRobotProcess, AnyRobotProcess, and AnyRobotProcess.

virtual void robot_process::RobotProcess::onCreate ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from LAUNCHING to UNCONFIGURED.

Implemented in robot_process::ManagedRobotProcess, AnyRobotProcessWithTimer, AnyRobotProcess, and AnyRobotProcess.

virtual void robot_process::RobotProcess::onPause ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from RUNNING to PAUSED.

Implemented in robot_process::ManagedRobotProcess, AnyRobotProcess, and AnyRobotProcess.

virtual void robot_process::RobotProcess::onResume ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from PAUSED to RUNNING.

Implemented in robot_process::ManagedRobotProcess, AnyRobotProcess, and AnyRobotProcess.

virtual void robot_process::RobotProcess::onStart ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from STOPPED to PAUSED.

Implemented in robot_process::ManagedRobotProcess, AnyRobotProcess, and AnyRobotProcess.

virtual void robot_process::RobotProcess::onStop ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from PAUSED to STOPPED.

Implemented in robot_process::ManagedRobotProcess, AnyRobotProcess, and AnyRobotProcess.

virtual void robot_process::RobotProcess::onTerminate ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from UNCONFIGURED to TERMINATED.

Implemented in robot_process::ManagedRobotProcess, AnyRobotProcess, and AnyRobotProcess.

virtual void robot_process::RobotProcess::onUnconfigure ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from STOPPED to UNCONFIGURED.

Implemented in robot_process::ManagedRobotProcess, AnyRobotProcess, and AnyRobotProcess.

void robot_process::RobotProcess::pause ( ) [private]

Called automatically, when transition from RUNNING to PAUSED.

Definition at line 258 of file robot_process.cpp.

void robot_process::RobotProcess::registerIsolatedTimer	(	const IsolatedAsyncTimer::LambdaCallback &	callback,
		const float &	frequency,
		bool	stoppable = `true`
	)		`[protected]`

Register an isolated async timer.

Registers an isolated async timer, which runs on a separate callback queue and is served by a single separate thread. The timer is managed during the lifecycle and transitioning to PAUSED state will pause its execution, meaning that the callback still executes, but returns immediately. When RobotProcess transitions to STOPPED state, the timer is stopped completely and started again during transition from STOPPED to PAUSED

Parameters:

callback	Timer callback to be registered
frequency	Frequency of the timer in Hz
stoppable	If true, timer cannot be stopped when transitioning to PAUSED or STOPPED state

Definition at line 175 of file robot_process.cpp.

ros::ServiceServer robot_process::RobotProcess::registerStateChangeRequest	(	const std::string &	service_name,
		const std::vector< State > &	states
	)		`[private]`

Registers a ROS service server listening for state change requests.

Parameters:

service_name	Name of the service
states	States to transition to in order

Returns:: Returns the created ros::ServiceServer

Definition at line 269 of file robot_process.cpp.

void robot_process::RobotProcess::resume ( ) [private]

Called automatically, when transition from PAUSED to RUNNING.

Definition at line 247 of file robot_process.cpp.

void robot_process::RobotProcess::run ( uint8_t threads = 0 )

Spins an amount of threads to serve the global callback queue. The call is blocking.

Parameters:

threads Number of threads to use, 0 signifies the amount of CPU cores available to the OS

Definition at line 142 of file robot_process.cpp.

void robot_process::RobotProcess::runAsync ( uint8_t threads = 0 )

Spins an amount of threads to serve the global callback queue. The call is non-blocking.

Parameters:

threads Number of threads to use, 0 signifies the amount of CPU cores available to the OS

Definition at line 148 of file robot_process.cpp.

void robot_process::RobotProcess::start ( ) [private]

Called automatically, when transition from STOPPED to PAUSED.

Definition at line 225 of file robot_process.cpp.

void robot_process::RobotProcess::stop ( ) [private]

Called automatically, when transition from PAUSED to STOPPED.

Definition at line 236 of file robot_process.cpp.

void robot_process::RobotProcess::terminate ( ) [private]

Called automatically, when transition from UNCONFIGURED to TERMINATED.

Definition at line 205 of file robot_process.cpp.

bool robot_process::RobotProcess::transitionToState ( const State & new_state ) [private]

Transitions to a new state. Path must exists between the current and the new state. All appropriate function will be called when transition to the goal state.

Parameters:

new_state State to transition to.

Returns:: Returns true if transition succeeded

Definition at line 305 of file robot_process.cpp.

void robot_process::RobotProcess::unconfigure ( ) [private]

Called automatically, when transition from STOPPED to UNCONFIGURED.

Definition at line 219 of file robot_process.cpp.

Member Data Documentation

bool robot_process::RobotProcess::autostart_ = false [private]

Whether to automatically start (transition to RUNNING) at the end of init function if not the node will transition to STOPPED state.

Definition at line 233 of file robot_process.h.

bool robot_process::RobotProcess::autostart_after_reconfigure_ = false [private]

Whether to autostart after reconfigure service is called.

Definition at line 238 of file robot_process.h.

State robot_process::RobotProcess::current_state_ = State::LAUNCHING [private]

Current state of the RobotProcess. Initially, LAUNCHING state.

Definition at line 303 of file robot_process.h.

std::shared_ptr<ros::AsyncSpinner> robot_process::RobotProcess::global_callback_queue_spinner_ [private]

Shared pointer to async spinner that serves the global callback queue.

Definition at line 297 of file robot_process.h.

std::shared_ptr<robot_process::IsolatedAsyncTimer> robot_process::RobotProcess::heartbeat_timer_ [private]

Shared pointer to the isolated timer that sends heartbeat messages.

Definition at line 207 of file robot_process.h.

ros::NodeHandlePtr robot_process::RobotProcess::node_handle_ [protected]

Definition at line 163 of file robot_process.h.

ros::NodeHandlePtr robot_process::RobotProcess::node_handle_private_ [protected]

Definition at line 164 of file robot_process.h.

std::string robot_process::RobotProcess::node_name_ [private]

Name of the actual ROS node.

Definition at line 219 of file robot_process.h.

std::string robot_process::RobotProcess::node_namespace_ [private]

Node's namespace, if empty then the private node handle resolves to ~ otheerwise private node handle resolves to ~node_namespace.

Definition at line 214 of file robot_process.h.

ros::ServiceServer robot_process::RobotProcess::pause_server_ [private]

ServiceServer for serving pause service.

Definition at line 280 of file robot_process.h.

ros::Publisher robot_process::RobotProcess::process_error_pub_ [private]

ROS Publisher of error messages.

Definition at line 291 of file robot_process.h.

ros::Publisher robot_process::RobotProcess::process_state_pub_ [private]

ROS Publisher of heartbeat messages and state changes messages.

Definition at line 286 of file robot_process.h.

std::vector<std::shared_ptr<robot_process::IsolatedAsyncTimer> > robot_process::RobotProcess::process_timers_ [private]

Vector of shared pointers to isolated timers created by register isolated timer.

Definition at line 202 of file robot_process.h.

ros::ServiceServer robot_process::RobotProcess::reconfigure_server_ [private]

ServiceServer for serving reconfigure service.

Definition at line 258 of file robot_process.h.

ros::ServiceServer robot_process::RobotProcess::restart_server_ [private]

ServiceServer for serving restart service, where restart means transition to STOPPED and then RUNNING.

Definition at line 264 of file robot_process.h.

ros::ServiceServer robot_process::RobotProcess::start_server_ [private]

ServiceServer for serving start service.

Definition at line 269 of file robot_process.h.

ros::CallbackQueue robot_process::RobotProcess::state_request_callback_queue_ [private]

Callback queue for state change request services.

Definition at line 243 of file robot_process.h.

std::shared_ptr<ros::AsyncSpinner> robot_process::RobotProcess::state_request_spinner_ [private]

Async spinner for serving state change requests.

Definition at line 248 of file robot_process.h.

const RobotProcess::StateTransitions robot_process::RobotProcess::STATE_TRANSITIONS [static, private]

Initial value:

{
  
  {nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr},
  
  {nullptr, nullptr, &RobotProcess::create, nullptr, nullptr, nullptr, nullptr},
  
  {nullptr, nullptr, nullptr, &RobotProcess::configure, nullptr, nullptr, &RobotProcess::terminate},
  
  {nullptr, nullptr, &RobotProcess::unconfigure, nullptr, &RobotProcess::start, nullptr, nullptr},
  
  {nullptr, nullptr, nullptr, &RobotProcess::stop, nullptr, &RobotProcess::resume, nullptr},
  
  {nullptr, nullptr, nullptr, nullptr, &RobotProcess::pause, nullptr, nullptr},
  
  {nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr}
}

2D array of direct state transitions with values being the corresponding functions to be called during that transition. First index signifies the state we are transitioning from, while the second index signifies the state we are transitioning to.

Definition at line 447 of file robot_process.h.

const RobotProcess::StateTransitionPaths robot_process::RobotProcess::STATE_TRANSITIONS_PATHS [static, private]

2D array of paths between states.

Definition at line 452 of file robot_process.h.

ros::ServiceServer robot_process::RobotProcess::stop_server_ [private]

ServiceServer for serving stop service.

Definition at line 275 of file robot_process.h.

ros::ServiceServer robot_process::RobotProcess::terminate_server_ [private]

ServiceServer for serving terminate service.

Definition at line 253 of file robot_process.h.

bool robot_process::RobotProcess::wait_for_supervisor_ = true [private]

Whether to wait for the supervisor during the init function. Waiting means that there has to be at least one subscriber of the hearthbeat topic.