Public Member Functions | Protected Member Functions | Protected Attributes | Private Types | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
robot_activity::RobotActivity Class Referenceabstract

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

#include <robot_activity.h>

Inheritance diagram for robot_activity::RobotActivity:
Inheritance graph
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Public Member Functions

std::string getNamespace () const
 Returns the full private namespace. More...
 
State getState ()
 Returns the current state. More...
 
RobotActivityinit (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 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". More...
 
std::shared_ptr< IsolatedAsyncTimerregisterIsolatedTimer (const IsolatedAsyncTimer::LambdaCallback &callback, const float &frequency, bool stoppable=true, bool autostart=false, bool oneshot=false)
 Register an isolated async timer. More...
 

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. More...
 
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. More...
 
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. More...
 
void notifyState () const
 Sends a heartbeat message with the current state. More...
 
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. More...
 
virtual void onCreate ()=0
 Function to be defined by the user. Called at the end of transition from LAUNCHING to UNCONFIGURED. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
virtual void onTerminate ()=0
 Function to be defined by the user. Called at the end of transition from UNCONFIGURED to TERMINATED. More...
 
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. More...
 
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. More...
 
ros::ServiceServer registerStateChangeRequest (const std::string &service_name, const std::vector< State > &states)
 Registers a ROS service server listening for state change requests. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 

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. More...
 
bool autostart_after_reconfigure_ = false
 Whether to autostart after reconfigure service is called. More...
 
State current_state_ = State::LAUNCHING
 Current state of the RobotActivity. Initially, LAUNCHING state. More...
 
std::shared_ptr< ros::AsyncSpinnerglobal_callback_queue_spinner_
 Shared pointer to async spinner that serves the global callback queue. More...
 
std::shared_ptr< robot_activity::IsolatedAsyncTimerheartbeat_timer_
 Shared pointer to the isolated timer that sends heartbeat messages. More...
 
std::string node_name_
 Name of the actual ROS node. More...
 
std::string node_namespace_
 Node's namespace, if empty then the private node handle resolves to ~ otheerwise private node handle resolves to ~node_namespace. More...
 
ros::ServiceServer pause_server_
 ServiceServer for serving pause service. More...
 
ros::Publisher process_error_pub_
 ROS Publisher of error messages. More...
 
ros::Publisher process_state_pub_
 ROS Publisher of heartbeat messages and state changes messages. More...
 
std::vector< std::shared_ptr< robot_activity::IsolatedAsyncTimer > > process_timers_
 Vector of shared pointers to isolated timers created by register isolated timer. More...
 
ros::ServiceServer reconfigure_server_
 ServiceServer for serving reconfigure service. More...
 
ros::ServiceServer restart_server_
 ServiceServer for serving restart service, where restart means transition to STOPPED and then RUNNING. More...
 
ros::ServiceServer start_server_
 ServiceServer for serving start service. More...
 
ros::CallbackQueue state_request_callback_queue_
 Callback queue for state change request services. More...
 
std::shared_ptr< ros::AsyncSpinnerstate_request_spinner_
 Async spinner for serving state change requests. More...
 
ros::ServiceServer stop_server_
 ServiceServer for serving stop service. More...
 
ros::ServiceServer terminate_server_
 ServiceServer for serving terminate service. More...
 
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. More...
 

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. More...
 
static const StateTransitionPaths STATE_TRANSITIONS_PATHS
 2D array of paths between states. More...
 

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 ( )
delete

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_stateState 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
autostartIf 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_typeType of error
functionFunction, where the error was caused
descriptionDetailed 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 ( )
privatepure 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 ( )
privatepure 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 ( )
privatepure 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 ( )
privatepure 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 ( )
privatepure 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 ( )
privatepure 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 ( )
privatepure 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 ( )
privatepure 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
callbackTimer callback to be registered
frequencyFrequency of the timer in Hz
stoppableIf 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_nameName of the service
statesStates 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
threadsNumber 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
threadsNumber 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_stateState 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
staticprivate
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
staticprivate

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.

Definition at line 234 of file robot_activity.h.


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


robot_activity
Author(s): Maciej ZURAD
autogenerated on Thu Jun 6 2019 19:32:17