service runner base class More...

#include "service_runner.hpp"

Inheritance diagram for capabilities2_runner::ServiceRunner< ServiceT >:

Collaboration diagram for capabilities2_runner::ServiceRunner< ServiceT >:

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

virtual void	init_service (rclcpp::Node::SharedPtr node, const runner_opts &run_config, const std::string &service_name)
	Initializer function for initializing the service runner in place of constructor due to plugin semantics.

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::ThreadTriggerRunner
	ThreadTriggerRunner ()

	~ThreadTriggerRunner ()

virtual 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

virtual void	start (rclcpp::Node::SharedPtr node, const runner_opts &run_config, const std::string &bond_id)=0
	start 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 void	execution (capabilities2_events::EventParameters parameters, const std::string &thread_id) override
	Trigger process to be executed.

virtual ServiceT::Request	generate_request (capabilities2_events::EventParameters &parameters)=0
	Generate a request from parameters.

virtual void	process_response (typename ServiceT::Response::SharedPtr)
	Process the reponse and print data as required.

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

Protected Attributes
rclcpp::Client< ServiceT >::SharedPtr	service_client_

ServiceT::Response::SharedPtr	response_

Protected Attributes inherited from capabilities2_runner::ThreadTriggerRunner
std::map< std::string, std::thread >	execution_thread_pool_
	dictionary of threads that executes the execute function

std::mutex	mutex_
	mutex for threadpool synchronisation.

std::atomic< bool >	execution_should_stop_
	flag to signal execution threads to stop.

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
Static Public Member Functions inherited from capabilities2_runner::ThreadTriggerRunner
static const std::string	bond_from_thread_id (const std::string &thread_id)
	helper function to extract bond_id from thread_id

static const std::string	instance_from_thread_id (const std::string &thread_id)
	helper function to extract instance_id from thread_id

Detailed Description

template<typename ServiceT>
class capabilities2_runner::ServiceRunner< ServiceT >

service runner base class

Create an server client to run an service based capability

Constructor & Destructor Documentation

◆ ServiceRunner()

template<typename ServiceT >

capabilities2_runner::ServiceRunner< ServiceT >::ServiceRunner ( )

inline

Constructor which needs to be empty due to plugin semantics.

Member Function Documentation

◆ execution()

template<typename ServiceT >

virtual void capabilities2_runner::ServiceRunner< ServiceT >::execution	(	capabilities2_events::EventParameters	parameters,
		const std::string &	thread_id
	)

inlineoverrideprotectedvirtual

Trigger process to be executed.

This method utilizes paramters set via the trigger() function

Parameters

parameters	pointer to tinyxml2::XMLElement that contains parameters
thread_id	unique identifier for the execution thread

Implements capabilities2_runner::ThreadTriggerRunner.

◆ generate_request()

template<typename ServiceT >

virtual ServiceT::Request capabilities2_runner::ServiceRunner< ServiceT >::generate_request ( capabilities2_events::EventParameters & parameters )

protectedpure virtual

Generate a request from parameters.

This function is used in conjunction with the trigger function to inject type erased parameters into the typed service

A pattern needs to be implemented in the derived class

Parameters

parameters

Returns: ServiceT::Request the generated request

Implemented in capabilities2_runner::GetCapabilitySpecsRunner.

◆ init_service()

template<typename ServiceT >

virtual void capabilities2_runner::ServiceRunner< ServiceT >::init_service	(	rclcpp::Node::SharedPtr	node,
		const runner_opts &	run_config,
		const std::string &	service_name
	)

inlinevirtual

Initializer function for initializing the service 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
service_name	action name used in the yaml file, used to load specific configuration from the run_config

◆ process_response()

template<typename ServiceT >

virtual void capabilities2_runner::ServiceRunner< ServiceT >::process_response ( typename ServiceT::Response::SharedPtr )

inlineprotectedvirtual

Process the reponse and print data as required.

Parameters

response	service reponse message
trigger_id	thread id associated with this response used for logging and event emission

Returns: capabilities2_events::EventParameters containing updated parameters for the on_success event if needed

A pattern needs to be implemented in the derived class for processing the response and extracting data if needed, currently does nothing.

◆ stop()

template<typename ServiceT >

virtual void capabilities2_runner::ServiceRunner< ServiceT >::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

◆ response_

template<typename ServiceT >

ServiceT::Response::SharedPtr capabilities2_runner::ServiceRunner< ServiceT >::response_

protected

◆ service_client_

template<typename ServiceT >

rclcpp::Client<ServiceT>::SharedPtr capabilities2_runner::ServiceRunner< ServiceT >::service_client_

protected

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

capabilities2_runner/include/capabilities2_runner/service_runner.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ServiceRunner()

Member Function Documentation

◆ execution()

◆ generate_request()

◆ init_service()

◆ process_response()

◆ stop()

Member Data Documentation

◆ response_

◆ service_client_