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

#include <robot_activity.h>

Inheritance diagram for robot_activity::RobotActivity:

Public Member Functions
std::string	getNamespace () const
	Returns the full private namespace.
State	getState ()
	Returns the current state.
RobotActivity &	init (bool autostart=false)
	Initializes the RobotActivity.
	RobotActivity ()
	Default constructor is deleted.
	RobotActivity (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	~RobotActivity ()
	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".
std::shared_ptr < IsolatedAsyncTimer >	registerIsolatedTimer (const IsolatedAsyncTimer::LambdaCallback &callback, const float &frequency, bool stoppable=true, bool autostart=false, bool oneshot=false)
	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 bool(RobotActivity::*	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
bool	changeState (const State &new_state)
	Changes state from current to new. Direct transition must exist. The appropriate function will be called during transition.
bool	configure ()
	Called automatically, when transition from UNCONFIGURED to STOPPED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onConfigure.
bool	create ()
	Called automatically, when transition from LAUNCHING to UNCONFIGURED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onCreate.
void	notifyState () const
	Sends a heartbeat message with the current state.
virtual bool	onConfigure ()=0
	Function to be defined by the user. Called at the end of transition from UNCONFIGURED to STOPPED. User must return true or false depending whether transition should succeed or not.
virtual void	onCreate ()=0
	Function to be defined by the user. Called at the end of transition from LAUNCHING to UNCONFIGURED.
virtual bool	onPause ()=0
	Function to be defined by the user. Called at the end of transition from RUNNING to PAUSED. User must return true or false depending whether transition should succeed or not.
virtual bool	onResume ()=0
	Function to be defined by the user. Called at the end of transition from PAUSED to RUNNING. User must return true or false depending whether transition should succeed or not.
virtual bool	onStart ()=0
	Function to be defined by the user. Called at the end of transition from STOPPED to PAUSED. User must return true or false depending whether transition should succeed or not.
virtual bool	onStop ()=0
	Function to be defined by the user. Called at the end of transition from PAUSED to STOPPED. User must return true or false depending whether transition should succeed or not.
virtual void	onTerminate ()=0
	Function to be defined by the user. Called at the end of transition from UNCONFIGURED to TERMINATED.
virtual bool	onUnconfigure ()=0
	Function to be defined by the user. Called at the end of transition from STOPPED to UNCONFIGURED. User must return true or false depending whether transition should succeed or not.
bool	pause ()
	Called automatically, when transition from RUNNING to PAUSED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onPause.
ros::ServiceServer	registerStateChangeRequest (const std::string &service_name, const std::vector< State > &states)
	Registers a ROS service server listening for state change requests.
bool	resume ()
	Called automatically, when transition from PAUSED to RUNNING. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onResume.
bool	start ()
	Called automatically, when transition from STOPPED to PAUSED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onStart.
bool	stop ()
	Called automatically, when transition from PAUSED to STOPPED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onStop.
bool	terminate ()
	Called automatically, when transition from UNCONFIGURED to TERMINATED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onTerminate.
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.
bool	unconfigure ()
	Called automatically, when transition from STOPPED to UNCONFIGURED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onUnconfigure.
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 RobotActivity. 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_activity::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_activity::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_activity.h.

Member Typedef Documentation

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

Definition at line 488 of file robot_activity.h.

typedef bool(RobotActivity::* robot_activity::RobotActivity::MemberLambdaCallback)() [private]

Definition at line 484 of file robot_activity.h.

typedef State robot_activity::RobotActivity::StateTransitionPaths[static_cast< uint8_t >(State::Count)][static_cast< uint8_t >(State::Count)] [private]

Definition at line 495 of file robot_activity.h.

typedef MemberLambdaCallback robot_activity::RobotActivity::StateTransitions[static_cast< uint8_t >(State::Count)][static_cast< uint8_t >(State::Count)] [private]

Definition at line 491 of file robot_activity.h.

Constructor & Destructor Documentation

robot_activity::RobotActivity::RobotActivity ( )

Default constructor is deleted.

robot_activity::RobotActivity::RobotActivity	(	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 RobotActivity 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_activity.cpp.

robot_activity::RobotActivity::~RobotActivity ( ) [virtual]

Virtual destructor.

Definition at line 70 of file robot_activity.cpp.

Member Function Documentation

bool robot_activity::RobotActivity::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.

Returns:: Returns true if changing state has succeeded

Definition at line 342 of file robot_activity.cpp.

bool robot_activity::RobotActivity::configure ( ) [private]

Called automatically, when transition from UNCONFIGURED to STOPPED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onConfigure.

Returns:: Returns the result of onConfigure.

Definition at line 218 of file robot_activity.cpp.

bool robot_activity::RobotActivity::create ( ) [private]

Called automatically, when transition from LAUNCHING to UNCONFIGURED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onCreate.

Returns:: Returns true always.

Definition at line 202 of file robot_activity.cpp.

std::string robot_activity::RobotActivity::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 193 of file robot_activity.cpp.

State robot_activity::RobotActivity::getState ( )

Returns the current state.

Returns:: State that the node is in

Definition at line 154 of file robot_activity.cpp.

RobotActivity & robot_activity::RobotActivity::init ( bool autostart = false )

Initializes the RobotActivity.

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_activity.cpp.

void robot_activity::RobotActivity::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_activity.cpp.

void robot_activity::RobotActivity::notifyState ( ) const [private]

Sends a heartbeat message with the current state.

Definition at line 300 of file robot_activity.cpp.

virtual bool robot_activity::RobotActivity::onConfigure ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from UNCONFIGURED to STOPPED. User must return true or false depending whether transition should succeed or not.

Returns:: Returns true if transition succeeded

Implemented in robot_activity::ManagedRobotActivity.

virtual void robot_activity::RobotActivity::onCreate ( ) [private, pure virtual]

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

Implemented in robot_activity::ManagedRobotActivity.

virtual bool robot_activity::RobotActivity::onPause ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from RUNNING to PAUSED. User must return true or false depending whether transition should succeed or not.

Returns:: Returns true if transition succeeded

Implemented in robot_activity::ManagedRobotActivity.

virtual bool robot_activity::RobotActivity::onResume ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from PAUSED to RUNNING. User must return true or false depending whether transition should succeed or not.

Returns:: Returns true if transition succeeded

Implemented in robot_activity::ManagedRobotActivity.

virtual bool robot_activity::RobotActivity::onStart ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from STOPPED to PAUSED. User must return true or false depending whether transition should succeed or not.

Returns:: Returns true if transition succeeded

Implemented in robot_activity::ManagedRobotActivity.

virtual bool robot_activity::RobotActivity::onStop ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from PAUSED to STOPPED. User must return true or false depending whether transition should succeed or not.

Returns:: Returns true if transition succeeded

Implemented in robot_activity::ManagedRobotActivity.

virtual void robot_activity::RobotActivity::onTerminate ( ) [private, pure virtual]

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

Implemented in robot_activity::ManagedRobotActivity.

virtual bool robot_activity::RobotActivity::onUnconfigure ( ) [private, pure virtual]

Function to be defined by the user. Called at the end of transition from STOPPED to UNCONFIGURED. User must return true or false depending whether transition should succeed or not.

Returns:: Returns true if transition succeeded

Implemented in robot_activity::ManagedRobotActivity.

bool robot_activity::RobotActivity::pause ( ) [private]

Called automatically, when transition from RUNNING to PAUSED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onPause.

Returns:: Returns the result of onPause.

Definition at line 263 of file robot_activity.cpp.

std::shared_ptr< IsolatedAsyncTimer > robot_activity::RobotActivity::registerIsolatedTimer	(	const IsolatedAsyncTimer::LambdaCallback &	callback,
		const float &	frequency,
		bool	stoppable = `true`,
		bool	autostart = `false`,
		bool	oneshot = `false`
	)		`[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 RobotActivity transitions to STOPPED state, the timer is stopped completely and started again during transition from STOPPED to PAUSED. The function returns a reference to the newly created timer.

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
autostart
oneshot

Returns:: A shared pointer to the newly created timer

Definition at line 175 of file robot_activity.cpp.

ros::ServiceServer robot_activity::RobotActivity::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 274 of file robot_activity.cpp.

bool robot_activity::RobotActivity::resume ( ) [private]

Called automatically, when transition from PAUSED to RUNNING. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onResume.

Returns:: Returns the result of onResume.

Definition at line 252 of file robot_activity.cpp.

void robot_activity::RobotActivity::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_activity.cpp.

void robot_activity::RobotActivity::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_activity.cpp.

bool robot_activity::RobotActivity::start ( ) [private]

Called automatically, when transition from STOPPED to PAUSED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onStart.

Returns:: Returns the result of onStart.

Definition at line 230 of file robot_activity.cpp.

bool robot_activity::RobotActivity::stop ( ) [private]

Called automatically, when transition from PAUSED to STOPPED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onStop.

Returns:: Returns the result of onStop.

Definition at line 241 of file robot_activity.cpp.

bool robot_activity::RobotActivity::terminate ( ) [private]

Called automatically, when transition from UNCONFIGURED to TERMINATED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onTerminate.

Returns:: Returns true always.

Definition at line 209 of file robot_activity.cpp.

bool robot_activity::RobotActivity::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 310 of file robot_activity.cpp.

bool robot_activity::RobotActivity::unconfigure ( ) [private]

Called automatically, when transition from STOPPED to UNCONFIGURED. RobotActivity calls this function directly during transition, which internally calls the user-defined RobotActivity::onUnconfigure.

Returns:: Returns the result of onUnconfigure.

Definition at line 224 of file robot_activity.cpp.

Member Data Documentation

bool robot_activity::RobotActivity::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 240 of file robot_activity.h.

bool robot_activity::RobotActivity::autostart_after_reconfigure_ = false [private]

Whether to autostart after reconfigure service is called.

Definition at line 245 of file robot_activity.h.

State robot_activity::RobotActivity::current_state_ = State::LAUNCHING [private]

Current state of the RobotActivity. Initially, LAUNCHING state.

Definition at line 310 of file robot_activity.h.

std::shared_ptr<ros::AsyncSpinner> robot_activity::RobotActivity::global_callback_queue_spinner_ [private]

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

Definition at line 304 of file robot_activity.h.

std::shared_ptr<robot_activity::IsolatedAsyncTimer> robot_activity::RobotActivity::heartbeat_timer_ [private]

Shared pointer to the isolated timer that sends heartbeat messages.

Definition at line 214 of file robot_activity.h.

ros::NodeHandlePtr robot_activity::RobotActivity::node_handle_ [protected]

Definition at line 163 of file robot_activity.h.

ros::NodeHandlePtr robot_activity::RobotActivity::node_handle_private_ [protected]

Definition at line 164 of file robot_activity.h.

std::string robot_activity::RobotActivity::node_name_ [private]

Name of the actual ROS node.

Definition at line 226 of file robot_activity.h.

std::string robot_activity::RobotActivity::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 221 of file robot_activity.h.

ros::ServiceServer robot_activity::RobotActivity::pause_server_ [private]

ServiceServer for serving pause service.

Definition at line 287 of file robot_activity.h.

ros::Publisher robot_activity::RobotActivity::process_error_pub_ [private]

ROS Publisher of error messages.

Definition at line 298 of file robot_activity.h.

ros::Publisher robot_activity::RobotActivity::process_state_pub_ [private]

ROS Publisher of heartbeat messages and state changes messages.

Definition at line 293 of file robot_activity.h.

std::vector<std::shared_ptr<robot_activity::IsolatedAsyncTimer> > robot_activity::RobotActivity::process_timers_ [private]

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

Definition at line 209 of file robot_activity.h.

ros::ServiceServer robot_activity::RobotActivity::reconfigure_server_ [private]

ServiceServer for serving reconfigure service.

Definition at line 265 of file robot_activity.h.

ros::ServiceServer robot_activity::RobotActivity::restart_server_ [private]

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

Definition at line 271 of file robot_activity.h.

ros::ServiceServer robot_activity::RobotActivity::start_server_ [private]

ServiceServer for serving start service.

Definition at line 276 of file robot_activity.h.

ros::CallbackQueue robot_activity::RobotActivity::state_request_callback_queue_ [private]

Callback queue for state change request services.

Definition at line 250 of file robot_activity.h.

std::shared_ptr<ros::AsyncSpinner> robot_activity::RobotActivity::state_request_spinner_ [private]

Async spinner for serving state change requests.

Definition at line 255 of file robot_activity.h.

const RobotActivity::StateTransitions robot_activity::RobotActivity::STATE_TRANSITIONS [static, private]

Initial value:

{
  
  {nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr},
  
  {nullptr, nullptr, &RobotActivity::create, nullptr, nullptr, nullptr, nullptr},
  
  {nullptr, nullptr, nullptr, &RobotActivity::configure, nullptr, nullptr, &RobotActivity::terminate},
  
  {nullptr, nullptr, &RobotActivity::unconfigure, nullptr, &RobotActivity::start, nullptr, nullptr},
  
  {nullptr, nullptr, nullptr, &RobotActivity::stop, nullptr, &RobotActivity::resume, nullptr},
  
  {nullptr, nullptr, nullptr, nullptr, &RobotActivity::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 503 of file robot_activity.h.

const RobotActivity::StateTransitionPaths robot_activity::RobotActivity::STATE_TRANSITIONS_PATHS [static, private]

2D array of paths between states.

Definition at line 508 of file robot_activity.h.

ros::ServiceServer robot_activity::RobotActivity::stop_server_ [private]

ServiceServer for serving stop service.

Definition at line 282 of file robot_activity.h.

ros::ServiceServer robot_activity::RobotActivity::terminate_server_ [private]

ServiceServer for serving terminate service.

Definition at line 260 of file robot_activity.h.

bool robot_activity::RobotActivity::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.