stop1_executor.h

Go to the documentation of this file.

/*
 * Copyright (c) 2018 Pilz GmbH & Co. KG
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.

 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.

 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef STOP1_EXECUTOR_H
#define STOP1_EXECUTOR_H

#include <atomic>
#include <condition_variable>
#include <mutex>
#include <string>
#include <thread>

#include <ros/ros.h>
#include <ros/service_client.h>
#include <std_srvs/Trigger.h>
#include <std_srvs/SetBool.h>

#include <prbt_hardware_support/run_permitted_state_machine.h>
#include <prbt_hardware_support/service_function_decl.h>

namespace prbt_hardware_support
{
class Stop1Executor
{
public:
  Stop1Executor(const TServiceCallFunc& hold_func, const TServiceCallFunc& unhold_func,
                const TServiceCallFunc& recover_func, const TServiceCallFunc& halt_func);

  virtual ~Stop1Executor();

  void updateRunPermitted(const bool run_permitted);
  bool updateRunPermittedCallback(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);

protected:
  void stopStateMachine();

private:
  void workerThreadFun();

private:
  std::unique_ptr<RunPermittedStateMachine> state_machine_;

  std::atomic_bool terminate_{ false };

  std::mutex sm_mutex_;

  std::condition_variable worker_cv_;

  std::thread worker_thread_;
};

inline void Stop1Executor::stopStateMachine()
{
  ROS_DEBUG("Stop state machine");
  state_machine_->stop();
}

}  // namespace prbt_hardware_support

#endif  // STOP1_EXECUTOR_H