src/abstract_execution_base.cpp
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1 /*
2  * Copyright 2018, Sebastian Pütz
3  *
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32  *
33  * abstract_execution_base.cpp
34  *
35  * author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
36  *
37  */
38 
40 
41 namespace mbf_abstract_nav
42 {
43 AbstractExecutionBase::AbstractExecutionBase(const std::string& name) : outcome_(255), cancel_(false), name_(name)
44 {
45 }
46 
48 {
49  if (thread_.joinable())
50  {
51  // if the user forgets to call stop(), we have to kill it
52  stop();
53  thread_.join();
54  }
55 }
56 
58 {
59  if (thread_.joinable())
60  {
61  // if the user forgets to call stop(), we have to kill it
62  stop();
63  thread_.join();
64  }
65 
66  thread_ = boost::thread(&AbstractExecutionBase::run, this);
67  return true;
68 }
69 
71 {
72  ROS_WARN_STREAM("Try to stop the plugin \"" << name_ << "\" rigorously by interrupting the thread!");
73  thread_.interrupt();
74 }
75 
77 {
78  if (thread_.joinable())
79  thread_.join();
80 }
81 
82 boost::cv_status AbstractExecutionBase::waitForStateUpdate(boost::chrono::microseconds const& duration)
83 {
84  boost::mutex mutex;
85  boost::unique_lock<boost::mutex> lock(mutex);
86  return condition_.wait_for(lock, duration);
87 }
88 
90 {
91  return outcome_;
92 }
93 
94 const std::string& AbstractExecutionBase::getMessage() const
95 {
96  return message_;
97 }
98 
99 const std::string& AbstractExecutionBase::getName() const
100 {
101  return name_;
102 }
103 
104 } /* namespace mbf_abstract_nav */
mbf_abstract_nav::AbstractExecutionBase::join
void join()
Definition: src/abstract_execution_base.cpp:76
mbf_abstract_nav::AbstractExecutionBase::outcome_
uint32_t outcome_
the last received plugin execution outcome
Definition: abstract_execution_base.h:126
mbf_abstract_nav
Definition: abstract_controller_execution.h:58
mbf_abstract_nav::AbstractExecutionBase::thread_
boost::thread thread_
the controlling thread object
Definition: abstract_execution_base.h:120
mbf_abstract_nav::AbstractExecutionBase::getOutcome
uint32_t getOutcome() const
Gets the current plugin execution outcome.
Definition: src/abstract_execution_base.cpp:89
ROS_WARN_STREAM
#define ROS_WARN_STREAM(args)
mbf_abstract_nav::AbstractExecutionBase::condition_
boost::condition_variable condition_
condition variable to wake up control thread
Definition: abstract_execution_base.h:114
mbf_abstract_nav::AbstractExecutionBase::stop
virtual void stop()
Definition: src/abstract_execution_base.cpp:70
mbf_abstract_nav::AbstractExecutionBase::run
virtual void run()
Definition: abstract_execution_base.h:114
mbf_abstract_nav::AbstractExecutionBase::~AbstractExecutionBase
virtual ~AbstractExecutionBase()
Definition: src/abstract_execution_base.cpp:47
mbf_abstract_nav::AbstractExecutionBase::getMessage
const std::string & getMessage() const
Gets the current plugin execution message.
Definition: src/abstract_execution_base.cpp:94
mbf_abstract_nav::AbstractExecutionBase::message_
std::string message_
the last received plugin execution message
Definition: abstract_execution_base.h:129
abstract_execution_base.h
mbf_abstract_nav::AbstractExecutionBase::waitForStateUpdate
boost::cv_status waitForStateUpdate(boost::chrono::microseconds const &duration)
Definition: src/abstract_execution_base.cpp:82
mbf_abstract_nav::AbstractExecutionBase::start
virtual bool start()
Definition: src/abstract_execution_base.cpp:57
mbf_abstract_nav::AbstractExecutionBase::name_
std::string name_
the plugin name; not the plugin type!
Definition: abstract_execution_base.h:132
mbf_abstract_nav::AbstractExecutionBase::AbstractExecutionBase
AbstractExecutionBase(const std::string &name)
Definition: src/abstract_execution_base.cpp:43
mbf_abstract_nav::AbstractExecutionBase::getName
const std::string & getName() const
Returns the name of the corresponding plugin.
Definition: src/abstract_execution_base.cpp:99


mbf_abstract_nav
Author(s): Sebastian Pütz
autogenerated on Wed Mar 2 2022 00:33:47