launch runner base class More...

#include "launch_runner.hpp"

Inheritance diagram for capabilities2_runner::LaunchRunner:

Collaboration diagram for capabilities2_runner::LaunchRunner:

Public Member Functions
	LaunchRunner ()
	Constructor which needs to be empty due to plugin semantics.

virtual void	start (rclcpp::Node::SharedPtr node, const runner_opts &run_config, const std::string &bond_id) override
	Starter function for starting the launch runner.

virtual void	stop (const std::string &bond_id, const std::string &instance_id="") override
	stop function to cease functionality and shutdown

Public Member Functions inherited from capabilities2_runner::NoTriggerRunner
void	trigger (capabilities2_events::EventParameters &parameters, const std::string &bond_id, const std::string &instance_id="") override
	Trigger the runner.

Public Member Functions inherited from capabilities2_runner::RunnerBase
	RunnerBase ()

	~RunnerBase ()=default

void	init_base (rclcpp::Node::SharedPtr node, const runner_opts &run_config)
	Initializer function for initializing the base runner in place of constructor due to plugin semantics.

void	enable_events (std::shared_ptr< capabilities2_events::EventBase > events)
	enable events system for this runner

void	add_connection (const std::string &connection_id, const capabilities2_msgs::msg::CapabilityEventCode &type, const capabilities2_msgs::msg::Capability &target, std::function< void(const std::string &, const std::string &, const std::string &, capabilities2_events::EventParameters)> callback)
	make EventNode::add_connection public method on runner api.

const std::string	get_package_name ()
	get the package name to which the runner belong to.

const std::string &	get_interface () const
	get the interface of the runner.

const std::string &	get_provider () const
	get the provider of the runner.

const std::string &	get_started_by () const
	get the starter of the runner.

const std::string &	get_pid () const
	get the pid of the runner.

Public Member Functions inherited from capabilities2_events::EventNode
	EventNode (std::shared_ptr< EventBase > event_emitter=nullptr)

virtual	~EventNode ()=default

void	emit_event (const std::string &bond_id, const std::string &instance_id, const uint8_t &event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())
	emit an event from this event node to all matching connections

Protected Attributes
std::string	launch_name

std::string	package_name

Protected Attributes inherited from capabilities2_runner::RunnerBase
rclcpp::Node::SharedPtr	node_
	shared pointer to the capabilities node Allows to use ros node related functionalities

runner_opts	run_config_
	run_config_ runner configuration

Additional Inherited Members
Protected Member Functions inherited from capabilities2_runner::RunnerBase
virtual capabilities2_events::EventParameters	param_on_started ()
	Update on_started event parameters with new data if available.

virtual capabilities2_events::EventParameters	param_on_stopped ()
	Update on_stopped event parameters with new data if available.

virtual capabilities2_events::EventParameters	param_on_failure ()
	Update on_failure event parameters with new data if available.

virtual capabilities2_events::EventParameters	param_on_success ()
	Update on_success event parameters with new data if available.

const std::string	get_resource_name_by_type (const std::string &resource_type, const std::string &msg_type) const
	Get a resource name by data type from the config.

const std::string	get_parameter_name_by_type (const std::string &param_type) const
	Get a parameter name by type.

const std::string	get_topic_name_by_type (const std::string &topic_type) const
	Get a topic name by type.

const std::string	get_service_name_by_type (const std::string &srv_type) const
	Get a service name by type.

const std::string	get_action_name_by_type (const std::string &action_type) const
	Get the action name by type object.

const std::string	get_first_resource_name (const std::string &resource_type) const
	get first name of a given resource

const std::string	get_first_parameter_name () const
	Get the first parameter name.

const std::string	get_first_topic_name () const
	Get the first topic name.

const std::string	get_first_service_name () const
	Get the first service name.

const std::string	get_first_action_name () const
	Get the first action name.

void	emit_started (const std::string &bond_id, const std::string &instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())
	emit STARTED event

void	emit_stopped (const std::string &bond_id, const std::string &instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())
	emit STOPPED event

void	emit_succeeded (const std::string &bond_id, const std::string &instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())
	emit SUCCEEDED event

void	emit_failed (const std::string &bond_id, const std::string &instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())
	emit FAILED event

Protected Member Functions inherited from capabilities2_events::EventNode
void	set_source (const capabilities2_msgs::msg::Capability &src)
	Set the source object.

void	set_event_emitter (std::shared_ptr< EventBase > event_emitter)
	event emitter for this event node

void	add_connection (const std::string &connection_id, const capabilities2_msgs::msg::CapabilityEventCode &type, const capabilities2_msgs::msg::Capability &target, EventBase::event_callback_t event_cb)
	make EventNode::add_connection public method on runner api.

void	remove_connection (const std::string &connection_id)
	Remove a connection by its id.

void	clear_connections ()
	clear all connections from this event node

std::vector< capabilities2_msgs::msg::CapabilityConnection >	list_connections () const
	List all connections from this event node.

bool	has_connection (const std::string &connection_id) const
	Check if a connection exists.

size_t	connection_count () const
	current connection count

const std::string &	get_id () const
	unique id of this event node

const capabilities2_msgs::msg::Capability &	get_source () const
	source capability of this event node

bool	is_event_emitter_set () const
	event emitter is set on this node

Detailed Description

launch runner base class

Create a launch file runner to run a launch file based capability uses process execution to run the launch file and kill the process on stop

Constructor & Destructor Documentation

◆ LaunchRunner()

capabilities2_runner::LaunchRunner::LaunchRunner ( )

inline

Constructor which needs to be empty due to plugin semantics.

Member Function Documentation

◆ start()

virtual void capabilities2_runner::LaunchRunner::start	(	rclcpp::Node::SharedPtr	node,
		const runner_opts &	run_config,
		const std::string &	bond_id
	)

inlineoverridevirtual

Starter function for starting the launch runner.

Parameters

node	shared pointer to the capabilities node. Allows to use ros node related functionalities
run_config	runner configuration loaded from the yaml file
bond_id	bond identifier for the runner

Implements capabilities2_runner::RunnerBase.

◆ stop()

virtual void capabilities2_runner::LaunchRunner::stop	(	const std::string &	bond_id,
		const std::string &	instance_id = `""`
	)

inlineoverridevirtual

stop function to cease functionality and shutdown

Implements capabilities2_runner::RunnerBase.

Member Data Documentation

◆ launch_name

std::string capabilities2_runner::LaunchRunner::launch_name

protected

◆ package_name

std::string capabilities2_runner::LaunchRunner::package_name