Managed RobotActivity class, which adds further functionality to the RobotActivity class. More...

#include <managed_robot_activity.h>

Inheritance diagram for robot_activity::ManagedRobotActivity:

Public Member Functions
virtual	~ManagedRobotActivity ()
	Virtual destructor. More...

Public Member Functions inherited from robot_activity::RobotActivity
std::string	getNamespace () const
	Returns the full private namespace. More...

State	getState ()
	Returns the current state. More...

RobotActivity &	init (bool autostart=false)
	Initializes the RobotActivity. More...

	RobotActivity ()=delete
	Default constructor is deleted. More...

	RobotActivity (int argc, char *argv[], const std::string &name_space=std::string(), const std::string &name=std::string())
	Constructor. More...

void	run (uint8_t threads=0)
	Spins an amount of threads to serve the global callback queue. The call is blocking. More...

void	runAsync (uint8_t threads=0)
	Spins an amount of threads to serve the global callback queue. The call is non-blocking. More...

virtual	~RobotActivity ()
	Virtual destructor. More...

Protected Attributes
resource::ServiceServerManager	service_manager
	Manager for advertising ROS services. More...

resource::SubscriberManager	subscriber_manager
	Manager for subscribing to ROS topics. More...

Protected Attributes inherited from robot_activity::RobotActivity
ros::NodeHandlePtr	node_handle_

ros::NodeHandlePtr	node_handle_private_

Private Member Functions
bool	onConfigure () final
	Overriden onConfigure, which calls onManagedConfigure. Cannot be overriden further by the child class of ManagedRobotActivity. More...

void	onCreate () final
	Overriden onCreate, which calls onManagedCreate. Cannot be overriden further by the child class of ManagedRobotActivity. More...

virtual bool	onManagedConfigure ()=0
	User-defined function that's called at the end of transition from UNCONFIGURED to STOPPED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged. More...

virtual void	onManagedCreate ()=0
	User-defined function that's called at the end of transition from LAUNCHING to UNCONFIGURED state. More...

virtual bool	onManagedPause ()=0
	User-defined function that's called at the end of transition from RUNNING to PAUSED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged. More...

virtual bool	onManagedResume ()=0
	User-defined function that's called at the end of transition from PAUSED to RUNNING state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged. More...

virtual bool	onManagedStart ()=0
	User-defined function that's called at the end of transition from STOPPED to PAUSED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged. More...

virtual bool	onManagedStop ()=0
	User-defined function that's called at the end of transition from PAUSED to STOPPED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged. More...

virtual void	onManagedTerminate ()=0
	User-defined function that's called at the end of transition from UNCONFIGURED to TERMINATED state. More...

virtual bool	onManagedUnconfigure ()=0
	User-defined function that's called at the end of transition from STOPPED to UNCONFIGURED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged. More...

bool	onPause () final
	Overriden onPause, which calls onManagedPause. Cannot be overriden further by the child class of ManagedRobotActivity. It pauses all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart. More...

bool	onResume () final
	Overriden onResume, which calls onManagedResume. Cannot be overriden further by the child class of ManagedRobotActivity. It resumes all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart. More...

bool	onStart () final
	Overriden onStart, which calls onManagedStart. Cannot be overriden further by the child class of ManagedRobotActivity. It subscribes and adverties all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart. More...

bool	onStop () final
	Overriden onStop, which calls onManagedStop. Cannot be overriden further by the child class of ManagedRobotActivity. It shutdowns all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart. More...

void	onTerminate () final
	Overriden onTerminate, which calls onManagedTerminate. Cannot be overriden further by the child class of ManagedRobotActivity. More...

bool	onUnconfigure () final
	Overriden onUnconfigure, which calls onManagedUnconfigure. Cannot be overriden further by the child class of ManagedRobotActivity. More...

Additional Inherited Members
Protected Member Functions inherited from robot_activity::RobotActivity
void	notifyError (uint8_t error_type, const std::string &function, const std::string &description)
	Sends an error message to a global error topic "/error". More...

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. More...

Detailed Description

Managed RobotActivity class, which adds further functionality to the RobotActivity class.

ManagedRobotActivity manages ROS Subscribers and ServiceServers. It automatically pauses all Subscribers and ServiceServers during PAUSED state and resumes them when transitioning to the RUNNING state. It also shutdowns them in STOPPED state and re-acquires them (by re-subscribing or re-advertising) when transitioning from STOPPED to PAUSED.

Definition at line 71 of file managed_robot_activity.h.

Constructor & Destructor Documentation

robot_activity::ManagedRobotActivity::~ManagedRobotActivity ( )

virtual

Virtual destructor.

Definition at line 42 of file managed_robot_activity.cpp.

Member Function Documentation

bool robot_activity::ManagedRobotActivity::onConfigure ( )

finalprivatevirtual

Overriden onConfigure, which calls onManagedConfigure. Cannot be overriden further by the child class of ManagedRobotActivity.

Returns: Returns true if onManagedConfigure succeeded

Implements robot_activity::RobotActivity.

Definition at line 59 of file managed_robot_activity.cpp.

void robot_activity::ManagedRobotActivity::onCreate ( )

finalprivatevirtual

Overriden onCreate, which calls onManagedCreate. Cannot be overriden further by the child class of ManagedRobotActivity.

Implements robot_activity::RobotActivity.

Definition at line 47 of file managed_robot_activity.cpp.

virtual bool robot_activity::ManagedRobotActivity::onManagedConfigure ( )

privatepure virtual

User-defined function that's called at the end of transition from UNCONFIGURED to STOPPED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged.

Returns: Returns true if transition succeeded

virtual void robot_activity::ManagedRobotActivity::onManagedCreate ( )

privatepure virtual

User-defined function that's called at the end of transition from LAUNCHING to UNCONFIGURED state.

virtual bool robot_activity::ManagedRobotActivity::onManagedPause ( )

privatepure virtual

User-defined function that's called at the end of transition from RUNNING to PAUSED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged.

Returns: Returns true if transition succeeded

virtual bool robot_activity::ManagedRobotActivity::onManagedResume ( )

privatepure virtual

User-defined function that's called at the end of transition from PAUSED to RUNNING state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged.

Returns: Returns true if transition succeeded

virtual bool robot_activity::ManagedRobotActivity::onManagedStart ( )

privatepure virtual

User-defined function that's called at the end of transition from STOPPED to PAUSED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged.

Returns: Returns true if transition succeeded

virtual bool robot_activity::ManagedRobotActivity::onManagedStop ( )

privatepure virtual

User-defined function that's called at the end of transition from PAUSED to STOPPED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged.

Returns: Returns true if transition succeeded

virtual void robot_activity::ManagedRobotActivity::onManagedTerminate ( )

privatepure virtual

User-defined function that's called at the end of transition from UNCONFIGURED to TERMINATED state.

virtual bool robot_activity::ManagedRobotActivity::onManagedUnconfigure ( )

privatepure virtual

User-defined function that's called at the end of transition from STOPPED to UNCONFIGURED state User has to return true or false, indicating whether the transition has succeeded or not. In case of failure, the state remains unchanged.

Returns: Returns true if transition succeeded

bool robot_activity::ManagedRobotActivity::onPause ( )

finalprivatevirtual

Overriden onPause, which calls onManagedPause. Cannot be overriden further by the child class of ManagedRobotActivity. It pauses all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.

Returns: Returns true if onManagedPause succeeded

Implements robot_activity::RobotActivity.

Definition at line 87 of file managed_robot_activity.cpp.

bool robot_activity::ManagedRobotActivity::onResume ( )

finalprivatevirtual

Overriden onResume, which calls onManagedResume. Cannot be overriden further by the child class of ManagedRobotActivity. It resumes all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.

Returns: Returns true if onManagedResume succeeded

Implements robot_activity::RobotActivity.

Definition at line 95 of file managed_robot_activity.cpp.

bool robot_activity::ManagedRobotActivity::onStart ( )

finalprivatevirtual

Overriden onStart, which calls onManagedStart. Cannot be overriden further by the child class of ManagedRobotActivity. It subscribes and adverties all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.

Returns: Returns true if onManagedStart succeeded

Implements robot_activity::RobotActivity.

Definition at line 71 of file managed_robot_activity.cpp.

bool robot_activity::ManagedRobotActivity::onStop ( )

finalprivatevirtual

Overriden onStop, which calls onManagedStop. Cannot be overriden further by the child class of ManagedRobotActivity. It shutdowns all ROS topics and services that were subscribed and advertised with subscription_manager and service_manager before calling onManagedStart.

Returns: Returns true if onManagedStop succeeded

Implements robot_activity::RobotActivity.

Definition at line 79 of file managed_robot_activity.cpp.

void robot_activity::ManagedRobotActivity::onTerminate ( )

finalprivatevirtual

Overriden onTerminate, which calls onManagedTerminate. Cannot be overriden further by the child class of ManagedRobotActivity.

Implements robot_activity::RobotActivity.

Definition at line 53 of file managed_robot_activity.cpp.

bool robot_activity::ManagedRobotActivity::onUnconfigure ( )

finalprivatevirtual

Overriden onUnconfigure, which calls onManagedUnconfigure. Cannot be overriden further by the child class of ManagedRobotActivity.

Returns: Returns true if onManagedUnconfigure succeeded

Implements robot_activity::RobotActivity.

Definition at line 65 of file managed_robot_activity.cpp.

Member Data Documentation

resource::ServiceServerManager robot_activity::ManagedRobotActivity::service_manager

protected

Manager for advertising ROS services.

Definition at line 93 of file managed_robot_activity.h.

resource::SubscriberManager robot_activity::ManagedRobotActivity::subscriber_manager

protected

Manager for subscribing to ROS topics.

Definition at line 88 of file managed_robot_activity.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation