Class AbstractExecutionBase

Defined in File abstract_execution_base.h

Inheritance Relationships

Derived Types

public mbf_abstract_nav::AbstractControllerExecution (Class AbstractControllerExecution)
public mbf_abstract_nav::AbstractPlannerExecution (Class AbstractPlannerExecution)
public mbf_abstract_nav::AbstractRecoveryExecution (Class AbstractRecoveryExecution)

Class Documentation

class AbstractExecutionBase

Base class for running concurrent navigation tasks.

The class uses a dedicated thread to run potentially long-lasting jobs. The user can use waitForStateUpdate to get notification about the progress of the said job.

Subclassed by mbf_abstract_nav::AbstractControllerExecution, mbf_abstract_nav::AbstractPlannerExecution, mbf_abstract_nav::AbstractRecoveryExecution

Public Functions

AbstractExecutionBase(const std::string &name, const mbf_utility::RobotInformation::ConstPtr &robot_info, const rclcpp::Node::SharedPtr &node)

virtual ~AbstractExecutionBase()

virtual bool start()

virtual void stop()

inline virtual bool cancel()

Cancel the plugin execution.

Returns:: true, if the plugin tries / tried to cancel the computation.

void join()

std::cv_status waitForStateUpdate(std::chrono::microseconds const &duration)

uint32_t getOutcome() const: Gets the current plugin execution outcome.

const std::string &getMessage() const: Gets the current plugin execution message.

const std::string &getName() const: Returns the name of the corresponding plugin.

inline virtual void preRun(): Optional implementation-specific setup function, called right before execution.

inline virtual void postRun(): Optional implementation-specific cleanup function, called right after execution.

Protected Functions

inline virtual void run()

Protected Attributes

std::condition_variable condition_: condition variable to wake up control thread

std::thread thread_: the controlling thread object

std::mutex should_exit_mutex_: mutex for locking the condition variable

bool should_exit_

bool cancel_: flag for canceling controlling

uint32_t outcome_: the last received plugin execution outcome

std::string message_: the last received plugin execution message

std::string name_: the plugin name; not the plugin type!

mbf_utility::RobotInformation::ConstPtr robot_info_: Reference to the current robot state.

rclcpp::Node::SharedPtr node_: Pointer to node in which the execution runs in. E.g. for getting the right logger.