Class ActionExecutor

Defined in File ActionExecutor.hpp

Class Documentation

class ActionExecutor

Public Types

enum Status

Values:

enumerator IDLE

enumerator DEALING

enumerator RUNNING

enumerator SUCCESS

enumerator FAILURE

enumerator CANCELLED

using Ptr = std::shared_ptr<ActionExecutor>

Public Functions

explicit ActionExecutor(const std::string &action, rclcpp_lifecycle::LifecycleNode::SharedPtr node)

BT::NodeStatus tick(const rclcpp::Time &now)

void cancel()

BT::NodeStatus get_status()

bool is_finished()

inline Status get_internal_status() const

inline void set_internal_status(Status state)

inline std::string get_action_name() const

inline std::vector<std::string> get_action_params() const

inline rclcpp::Time get_start_time() const

inline rclcpp::Time get_current_time() const

inline rclcpp::Time get_status_time() const

inline std::string get_feedback() const

inline float get_completion() const

Public Members

plansys2_msgs::msg::ActionExecution last_msg

Public Static Functions

static inline Ptr make_shared(const std::string &action, rclcpp_lifecycle::LifecycleNode::SharedPtr node)

Protected Functions

void action_hub_callback(const plansys2_msgs::msg::ActionExecution::SharedPtr msg)

void request_for_performers()

void confirm_performer(const std::string &node_id)

void reject_performer(const std::string &node_id)

std::string get_name(const std::string &action_expr)

std::vector<std::string> get_params(const std::string &action_expr)

void wait_timeout()

Protected Attributes

rclcpp_lifecycle::LifecycleNode::SharedPtr node_

Status state_

rclcpp::Time state_time_

rclcpp::Time start_execution_

std::string action_

std::string action_name_

std::string current_performer_id_

std::vector<std::string> action_params_

std::string feedback_

float completion_

rclcpp_lifecycle::LifecyclePublisher<plansys2_msgs::msg::ActionExecution>::SharedPtr action_hub_pub_

rclcpp::Subscription<plansys2_msgs::msg::ActionExecution>::SharedPtr action_hub_sub_

rclcpp::TimerBase::SharedPtr waiting_timer_