add threaded trigger execution to the runner More...

#include "threadtrigger_runner.hpp"

Inheritance diagram for capabilities2_runner::ThreadTriggerRunner:

Collaboration diagram for capabilities2_runner::ThreadTriggerRunner:

Public Member Functions
	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

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

Static Public Member Functions
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

Protected Member Functions
virtual void	execution (capabilities2_events::EventParameters parameters, const std::string &thread_id)=0
	Trigger process to be executed.

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
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

Private Member Functions
void	stop_execution (std::chrono::milliseconds timeout=std::chrono::milliseconds(500))

Detailed Description

add threaded trigger execution to the runner

Constructor & Destructor Documentation

◆ ThreadTriggerRunner()

capabilities2_runner::ThreadTriggerRunner::ThreadTriggerRunner ( )

inline

◆ ~ThreadTriggerRunner()

capabilities2_runner::ThreadTriggerRunner::~ThreadTriggerRunner ( )

inline

Member Function Documentation

◆ bond_from_thread_id()

static const std::string capabilities2_runner::ThreadTriggerRunner::bond_from_thread_id ( const std::string & thread_id )

inlinestatic

helper function to extract bond_id from thread_id

Parameters

thread_id unique identifier for the execution thread, format: "bond_id/trigger_id"

Returns: const std::string

◆ execution()

virtual void capabilities2_runner::ThreadTriggerRunner::execution	(	capabilities2_events::EventParameters	parameters,
		const std::string &	thread_id
	)

protectedpure virtual

Trigger process to be executed.

This method utilizes parameters set via the trigger() function

Parameters

parameters	parameters for the execution
thread_id	unique identifier for the execution thread, can be used for tracking and cleanup

Attention: : Should be implemented on derieved classes and should call success and failure events appropriately

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

◆ instance_from_thread_id()

static const std::string capabilities2_runner::ThreadTriggerRunner::instance_from_thread_id ( const std::string & thread_id )

inlinestatic

helper function to extract instance_id from thread_id

Parameters

thread_id unique identifier for the execution thread, format: "bond_id/instance_id"

Returns: const std::string

◆ stop_execution()

void capabilities2_runner::ThreadTriggerRunner::stop_execution ( std::chrono::milliseconds timeout = std::chrono::milliseconds(500) )

inlineprivate

◆ trigger()

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

inlineoverridevirtual

Trigger the runner.

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	pointer to tinyxml2::XMLElement that contains parameters
bond_id	unique identifier for the group of connections associated with this runner trigger event
instance_id	unique identifier for the instance associated with this runner trigger event

Implements capabilities2_runner::RunnerBase.

Member Data Documentation

◆ execution_should_stop_

std::atomic<bool> capabilities2_runner::ThreadTriggerRunner::execution_should_stop_

protected

flag to signal execution threads to stop.

◆ execution_thread_pool_

std::map<std::string, std::thread> capabilities2_runner::ThreadTriggerRunner::execution_thread_pool_

protected

dictionary of threads that executes the execute function

◆ mutex_

std::mutex capabilities2_runner::ThreadTriggerRunner::mutex_

protected

mutex for threadpool synchronisation.

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

capabilities2_runner/include/capabilities2_runner/threadtrigger_runner.hpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ThreadTriggerRunner()

◆ ~ThreadTriggerRunner()

Member Function Documentation

◆ bond_from_thread_id()

◆ execution()

◆ instance_from_thread_id()

◆ stop_execution()

◆ trigger()

Member Data Documentation

◆ execution_should_stop_

◆ execution_thread_pool_

◆ mutex_