Class OperationManager

Nested Relationships

Nested Types

Class Documentation

class OperationManager

Manager for ROS2 operations (services and actions) Handles service calls synchronously and action calls asynchronously

Public Functions

explicit OperationManager(rclcpp::Node *node, DiscoveryManager *discovery_manager)
~OperationManager()
void shutdown()

Explicitly release subscriptions, clients, and tracked goals. Call while executor is still running to allow safe callback cleanup. Called automatically by destructor, but GatewayNode calls it earlier during its shutdown sequence.

void set_notifier(ResourceChangeNotifier *notifier)

Set optional notifier for broadcasting operation status changes to trigger subsystem.

ServiceCallResult call_service(const std::string &service_path, const std::string &service_type, const json &request)

Call a ROS2 service synchronously

Parameters:

  • service_path – Full service path (e.g., “/powertrain/engine/calibrate”)

  • service_type – Service type (e.g., “std_srvs/srv/Trigger”)

  • request – JSON request body

Returns:

ServiceCallResult with response or error

ServiceCallResult call_component_service(const std::string &component_ns, const std::string &operation_name, const std::optional<std::string> &service_type, const json &request)

Find and call a service by component and operation name Uses discovery cache to resolve service path and type if not provided

Parameters:

  • component_ns – Component namespace (e.g., “/powertrain/engine”)

  • operation_name – Operation name (e.g., “calibrate”)

  • service_type – Optional service type override

  • request – JSON request body

Returns:

ServiceCallResult with response or error

ActionSendGoalResult send_action_goal(const std::string &action_path, const std::string &action_type, const json &goal, const std::string &entity_id = "")

Send a goal to an action server using native rclcpp_action internal services

Parameters:

  • action_path – Full action path (e.g., “/powertrain/engine/long_calibration”)

  • action_type – Action type (e.g., “example_interfaces/action/Fibonacci”)

  • goal – JSON goal data

  • entity_id – SOVD entity ID for trigger notifications (e.g., “engine”)

Returns:

ActionSendGoalResult with goal_id or error

ActionSendGoalResult send_component_action_goal(const std::string &component_ns, const std::string &operation_name, const std::optional<std::string> &action_type, const json &goal, const std::string &entity_id = "")

Send a goal to an action using component namespace and operation name Uses discovery cache to resolve action path and type if not provided

Parameters:

  • component_ns – Component namespace (e.g., “/powertrain/engine”)

  • operation_name – Operation name (e.g., “long_calibration”)

  • action_type – Optional action type override

  • goal – JSON goal data

  • entity_id – SOVD entity ID for trigger notifications (e.g., “engine”)

Returns:

ActionSendGoalResult with goal_id or error

ActionCancelResult cancel_action_goal(const std::string &action_path, const std::string &goal_id)

Cancel a running action goal using ros2 action cancel

Parameters:

  • action_path – Full action path

  • goal_id – Goal UUID hex string

Returns:

ActionCancelResult

ActionGetResultResult get_action_result(const std::string &action_path, const std::string &action_type, const std::string &goal_id)

Get the result of a completed action This is a blocking call that waits for the action to complete

Parameters:

  • action_path – Full action path

  • action_type – Action type

  • goal_id – Goal UUID hex string

Returns:

ActionGetResultResult with result or error

std::optional<ActionGoalInfo> get_tracked_goal(const std::string &goal_id) const

Get tracked goal info by goal_id

Parameters:

goal_id – Goal UUID hex string

Returns:

Optional ActionGoalInfo if found

std::vector<ActionGoalInfo> list_tracked_goals() const

List all tracked goals

Returns:

Vector of all tracked goals

std::vector<ActionGoalInfo> get_goals_for_action(const std::string &action_path) const

Get all goals for a specific action path

Parameters:

action_path – Full action path (e.g., “/powertrain/engine/long_calibration”)

Returns:

Vector of goals for that action, sorted by last_update (newest first)

std::optional<ActionGoalInfo> get_latest_goal_for_action(const std::string &action_path) const

Get the most recent goal for a specific action path

Parameters:

action_path – Full action path

Returns:

Optional ActionGoalInfo if any goal exists for this action

void update_goal_status(const std::string &goal_id, ActionGoalStatus status)

Update goal status in tracking

Parameters:

  • goal_id – Goal UUID hex string

  • status – New status

void update_goal_feedback(const std::string &goal_id, const json &feedback)

Update goal feedback in tracking

Parameters:

  • goal_id – Goal UUID hex string

  • feedback – New feedback JSON

void cleanup_old_goals(std::chrono::seconds max_age = std::chrono::seconds(300))

Remove completed goals older than specified duration

Parameters:

max_age – Maximum age of completed goals to keep

void subscribe_to_action_status(const std::string &action_path)

Subscribe to action status topic for real-time updates Called automatically when a goal is sent

Parameters:

action_path – Full action path (e.g., “/powertrain/engine/long_calibration”)

void unsubscribe_from_action_status(const std::string &action_path)

Unsubscribe from action status topic Called when no more active goals exist for this action

Parameters:

action_path – Full action path

Public Static Functions

static bool is_valid_message_type(const std::string &type)

Validate message type format (package/srv/Type or package/action/Type)

static bool is_valid_uuid_hex(const std::string &uuid_hex)

Validate UUID hex string format (32 hex characters)

static bool is_service_type(const std::string &type)

Check if type is a service type (contains /srv/)

static bool is_action_type(const std::string &type)

Check if type is an action type (contains /action/)