base class for all runners More...

#include "runner_base.hpp"

Inheritance diagram for capabilities2_runner::RunnerBase:

Collaboration diagram for capabilities2_runner::RunnerBase:

Public Member Functions
	RunnerBase ()

	~RunnerBase ()=default

virtual void	start (rclcpp::Node::SharedPtr node, const runner_opts &run_config, const std::string &bond_id)=0
	start the runner

virtual void	stop (const std::string &bond_id, const std::string &instance_id="")=0
	stop the runner

virtual void	trigger (capabilities2_events::EventParameters &parameters, const std::string &bond_id, const std::string &instance_id)=0
	Trigger the runner.

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 Member Functions
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

Protected Attributes
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

Detailed Description

base class for all runners

Defines the runner plugin api. Inherits from EventNode to provide event emission

Constructor & Destructor Documentation

◆ RunnerBase()

capabilities2_runner::RunnerBase::RunnerBase ( )

inline

◆ ~RunnerBase()

capabilities2_runner::RunnerBase::~RunnerBase ( )

default

Member Function Documentation

◆ add_connection()

void capabilities2_runner::RunnerBase::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
	)

inline

make EventNode::add_connection public method on runner api.

add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is: "bond_id/trigger_id" which allows event emission to extract bond_id for access control

Parameters

connection_id	unique identifier for the connection (format: "bond_id/trigger_id")
type	type of event to connect to
target	target capability to connect to
callback	callback to trigger target capability with (capability, parameters, bond_id)

◆ emit_failed()

void capabilities2_runner::RunnerBase::emit_failed	(	const std::string &	bond_id,
		const std::string &	instance_id,
		capabilities2_events::EventParameters	parameters = `capabilities2_events::EventParameters()`
	)

inlineprotected

emit FAILED event

Parameters

bond_id
parameters

◆ emit_started()

void capabilities2_runner::RunnerBase::emit_started	(	const std::string &	bond_id,
		const std::string &	instance_id,
		capabilities2_events::EventParameters	parameters = `capabilities2_events::EventParameters()`
	)

inlineprotected

emit STARTED event

Parameters

bond_id
parameters

◆ emit_stopped()

void capabilities2_runner::RunnerBase::emit_stopped	(	const std::string &	bond_id,
		const std::string &	instance_id,
		capabilities2_events::EventParameters	parameters = `capabilities2_events::EventParameters()`
	)

inlineprotected

emit STOPPED event

Parameters

bond_id
parameters

◆ emit_succeeded()

void capabilities2_runner::RunnerBase::emit_succeeded	(	const std::string &	bond_id,
		const std::string &	instance_id,
		capabilities2_events::EventParameters	parameters = `capabilities2_events::EventParameters()`
	)

inlineprotected

emit SUCCEEDED event

Parameters

bond_id
parameters

◆ enable_events()

void capabilities2_runner::RunnerBase::enable_events ( std::shared_ptr< capabilities2_events::EventBase > events )

inline

enable events system for this runner

Parameters

events event emitter to be used by this runner

◆ get_action_name_by_type()

const std::string capabilities2_runner::RunnerBase::get_action_name_by_type ( const std::string & action_type ) const

inlineprotected

Get the action name by type object.

Parameters

action_type

Returns: const std::string

◆ get_first_action_name()

const std::string capabilities2_runner::RunnerBase::get_first_action_name ( ) const

inlineprotected

Get the first action name.

Returns: const std::string

◆ get_first_parameter_name()

const std::string capabilities2_runner::RunnerBase::get_first_parameter_name ( ) const

inlineprotected

Get the first parameter name.

Returns: const std::string

◆ get_first_resource_name()

const std::string capabilities2_runner::RunnerBase::get_first_resource_name ( const std::string & resource_type ) const

inlineprotected

get first name of a given resource

This can be used to get the name of the first action resource in the runner config

Returns: std::string

◆ get_first_service_name()

const std::string capabilities2_runner::RunnerBase::get_first_service_name ( ) const

inlineprotected

Get the first service name.

Returns: const std::string

◆ get_first_topic_name()

const std::string capabilities2_runner::RunnerBase::get_first_topic_name ( ) const

inlineprotected

Get the first topic name.

Returns: const std::string

◆ get_interface()

const std::string & capabilities2_runner::RunnerBase::get_interface ( ) const

inline

get the interface of the runner.

◆ get_package_name()

const std::string capabilities2_runner::RunnerBase::get_package_name ( )

inline

get the package name to which the runner belong to.

◆ get_parameter_name_by_type()

const std::string capabilities2_runner::RunnerBase::get_parameter_name_by_type ( const std::string & param_type ) const

inlineprotected

Get a parameter name by type.

Parameters

param_type

Returns: const std::string

◆ get_pid()

const std::string & capabilities2_runner::RunnerBase::get_pid ( ) const

inline

get the pid of the runner.

◆ get_provider()

const std::string & capabilities2_runner::RunnerBase::get_provider ( ) const

inline

get the provider of the runner.

◆ get_resource_name_by_type()

const std::string capabilities2_runner::RunnerBase::get_resource_name_by_type	(	const std::string &	resource_type,
		const std::string &	msg_type
	)		const

inlineprotected

Get a resource name by data type from the config.

This helps to navigate remappings from the runner config

WARNING: this only gets the first resource found of the given type

Parameters

resource_type
msg_type

Returns: const std::string

◆ get_service_name_by_type()

const std::string capabilities2_runner::RunnerBase::get_service_name_by_type ( const std::string & srv_type ) const

inlineprotected

Get a service name by type.

Parameters

srv_type

Returns: const std::string

◆ get_started_by()

const std::string & capabilities2_runner::RunnerBase::get_started_by ( ) const

inline

get the starter of the runner.

◆ get_topic_name_by_type()

const std::string capabilities2_runner::RunnerBase::get_topic_name_by_type ( const std::string & topic_type ) const

inlineprotected

Get a topic name by type.

Parameters

topic_type

Returns: const std::string

◆ init_base()

void capabilities2_runner::RunnerBase::init_base	(	rclcpp::Node::SharedPtr	node,
		const runner_opts &	run_config
	)

inline

Initializer function for initializing the base runner in place of constructor due to plugin semantics.

Parameters

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

◆ param_on_failure()

virtual capabilities2_events::EventParameters capabilities2_runner::RunnerBase::param_on_failure ( )

inlineprotectedvirtual

Update on_failure event parameters with new data if available.

This function is used to inject new data into the CapabilityOptions containing parameters related to the on_failure trigger event

A pattern needs to be implemented in the derived class

Returns: CapabilityOptions containing new parameters

◆ param_on_started()

virtual capabilities2_events::EventParameters capabilities2_runner::RunnerBase::param_on_started ( )

inlineprotectedvirtual

Update on_started event parameters with new data if available.

This function is used to inject new data into the CapabilityOptions containing parameters related to the on_started trigger event

A pattern needs to be implemented in the derived class

Returns: CapabilityOptions containing new parameters

◆ param_on_stopped()

virtual capabilities2_events::EventParameters capabilities2_runner::RunnerBase::param_on_stopped ( )

inlineprotectedvirtual

Update on_stopped event parameters with new data if available.

This function is used to inject new data into the CapabilityOptions containing parameters related to the on_stopped trigger event

A pattern needs to be implemented in the derived class

Returns: CapabilityOptions containing new parameters

◆ param_on_success()

virtual capabilities2_events::EventParameters capabilities2_runner::RunnerBase::param_on_success ( )

inlineprotectedvirtual

Update on_success event parameters with new data if available.

This function is used to inject new data into the CapabilityOptions containing parameters related to the on_success trigger event

A pattern needs to be implemented in the derived class

Returns: CapabilityOptions containing new parameters

Reimplemented in capabilities2_runner::GetCapabilitySpecsRunner.

◆ start()

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

pure virtual

start the runner

runner plugin api

Parameters

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

Attention: Must call init_base in derived class implementation and should call start event

Implemented in capabilities2_runner::LaunchRunner, capabilities2_runner::GetCapabilitySpecsRunner, capabilities2_runner::InputMultiplexRunner, and capabilities2_runner::DummyRunner.

◆ stop()

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

pure virtual

stop the runner

Attention: should clean up threads and should call stop event

Implemented in capabilities2_runner::ActionRunner< ActionT >, capabilities2_runner::LaunchRunner, capabilities2_runner::ServiceRunner< ServiceT >, capabilities2_runner::ServiceRunner< capabilities2_msgs::srv::GetCapabilitySpecs >, capabilities2_runner::InputMultiplexRunner, capabilities2_runner::TopicRunner< TopicT >, and capabilities2_runner::DummyRunner.

◆ trigger()

virtual void capabilities2_runner::RunnerBase::trigger	(	capabilities2_events::EventParameters &	parameters,
		const std::string &	bond_id,
		const std::string &	instance_id
	)

pure virtual

Trigger the runner.

FIXME: implement new event subsystem

This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up RunnerBase::triggerExecution in a thread

Parameters

parameters	capability options that contain parameters for the trigger
bond_id	unique identifier for the group of connections associated with this runner trigger event
instance_id	unique identifier for the instance of the capability

Attention: should call success and failure events with parameters and bond_id when the trigger process completes.

Implemented in capabilities2_runner::ThreadTriggerRunner, capabilities2_runner::NoTriggerRunner, and capabilities2_runner::DummyRunner.

Member Data Documentation

◆ node_

rclcpp::Node::SharedPtr capabilities2_runner::RunnerBase::node_

protected

shared pointer to the capabilities node Allows to use ros node related functionalities

◆ run_config_

runner_opts capabilities2_runner::RunnerBase::run_config_

protected

run_config_ runner configuration

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

capabilities2_runner/include/capabilities2_runner/runner_base.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RunnerBase()

◆ ~RunnerBase()

Member Function Documentation

◆ add_connection()

◆ emit_failed()

◆ emit_started()

◆ emit_stopped()

◆ emit_succeeded()

◆ enable_events()

◆ get_action_name_by_type()

◆ get_first_action_name()

◆ get_first_parameter_name()

◆ get_first_resource_name()

◆ get_first_service_name()

◆ get_first_topic_name()

◆ get_interface()

◆ get_package_name()

◆ get_parameter_name_by_type()

◆ get_pid()

◆ get_provider()

◆ get_resource_name_by_type()

◆ get_service_name_by_type()

◆ get_started_by()

◆ get_topic_name_by_type()

◆ init_base()

◆ param_on_failure()

◆ param_on_started()

◆ param_on_stopped()

◆ param_on_success()

◆ start()

◆ stop()

◆ trigger()

Member Data Documentation

◆ node_

◆ run_config_