The AbstractRecoveryExecution class loads and binds the recovery behavior plugin. It contains a thread running the plugin, executing the recovery behavior. An internal state is saved and will be pulled by the server, which controls the recovery behavior execution. Due to a state change it wakes up all threads connected to the condition variable. More...

#include <abstract_recovery_execution.h>

Inheritance diagram for mbf_abstract_nav::AbstractRecoveryExecution:

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Public Types
typedef boost::shared_ptr< AbstractRecoveryExecution >	Ptr

enum	RecoveryState { INITIALIZED, STARTED, RECOVERING, WRONG_NAME, RECOVERY_DONE, CANCELED, STOPPED, INTERNAL_ERROR }
	internal state. More...

Public Member Functions
	AbstractRecoveryExecution (const std::string name, const mbf_abstract_core::AbstractRecovery::Ptr recovery_ptr, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor. More...

virtual bool	cancel ()
	Cancel the planner execution. This calls the cancel method of the planner plugin. This could be useful if the computation takes too much time. More...

AbstractRecoveryExecution::RecoveryState	getState ()
	Returns the current state, thread-safe communication. More...

bool	isPatienceExceeded ()
	Checks whether the patience was exceeded. More...

void	reconfigure (const MoveBaseFlexConfig &config)
	Reconfigures the current configuration and reloads all parameters. This method is called from a dynamic reconfigure tool. More...

virtual	~AbstractRecoveryExecution ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase
	AbstractExecutionBase (std::string name, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)

std::string	getMessage ()
	Gets the current plugin execution message. More...

std::string	getName ()
	Returns the name of the corresponding plugin. More...

uint32_t	getOutcome ()
	Gets the current plugin execution outcome. More...

void	join ()

virtual bool	start ()

virtual void	stop ()

void	waitForStateUpdate (boost::chrono::microseconds const &duration)

Protected Member Functions
virtual void	run ()
	Main execution method which will be executed by the recovery execution thread_. More...

Protected Attributes
mbf_abstract_core::AbstractRecovery::Ptr	behavior_
	the current loaded recovery behavior More...

const TFPtr	tf_listener_ptr_
	shared pointer to common TransformListener More...

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
bool	cancel_
	flag for canceling controlling More...

boost::condition_variable	condition_
	condition variable to wake up control thread More...

std::string	message_
	the last received plugin execution message More...

std::string	name_
	the plugin name; not the plugin type! More...

uint32_t	outcome_
	the last received plugin execution outcome More...

boost::thread	thread_
	the controlling thread object More...

Private Member Functions
void	setState (RecoveryState state)
	Sets the current internal state. This method is thread communication safe. More...

Private Attributes
boost::mutex	conf_mtx_
	dynamic reconfigure and start time mutexes to mutually exclude read/write configuration More...

ros::Duration	patience_
	recovery behavior allowed time More...

ros::Time	start_time_
	recovery behavior start time More...

RecoveryState	state_
	current internal state More...

boost::mutex	state_mtx_
	mutex to handle safe thread communication for the current state More...

boost::mutex	time_mtx_

Additional Inherited Members
Public Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
boost::function< void()>	cleanup_fn_
	Implementation-specific cleanup function called right after execution; empty on abstract server. More...

boost::function< void()>	setup_fn_
	Implementation-specific setup function called right before execution; empty on abstract server. More...

Detailed Description

The AbstractRecoveryExecution class loads and binds the recovery behavior plugin. It contains a thread running the plugin, executing the recovery behavior. An internal state is saved and will be pulled by the server, which controls the recovery behavior execution. Due to a state change it wakes up all threads connected to the condition variable.

Definition at line 76 of file abstract_recovery_execution.h.

Member Typedef Documentation

typedef boost::shared_ptr<AbstractRecoveryExecution > mbf_abstract_nav::AbstractRecoveryExecution::Ptr

Definition at line 80 of file abstract_recovery_execution.h.

Member Enumeration Documentation

enum mbf_abstract_nav::AbstractRecoveryExecution::RecoveryState

internal state.

Enumerator
INITIALIZED	The recovery execution has been initialized.
STARTED	The recovery execution thread has been started.
RECOVERING	The recovery behavior plugin is running.
WRONG_NAME	The given name could not be associated with a load behavior.
RECOVERY_DONE	The recovery behavior execution is done.
CANCELED	The recovery execution was canceled.
STOPPED	The recovery execution has been stopped.
INTERNAL_ERROR	An internal error occurred.

Definition at line 115 of file abstract_recovery_execution.h.

Constructor & Destructor Documentation

mbf_abstract_nav::AbstractRecoveryExecution::AbstractRecoveryExecution	(	const std::string	name,
		const mbf_abstract_core::AbstractRecovery::Ptr	recovery_ptr,
		const TFPtr &	tf_listener_ptr,
		const MoveBaseFlexConfig &	config,
		boost::function< void()>	setup_fn,
		boost::function< void()>	cleanup_fn
	)