Topic runner base class. More...

#include "topic_runner.hpp"

Inheritance diagram for capabilities2_runner::TopicRunner< TopicT >:

Collaboration diagram for capabilities2_runner::TopicRunner< TopicT >:

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

virtual void	init_subscriber (rclcpp::Node::SharedPtr node, const runner_opts &run_config, const std::string &topic_name)
	Initializer function for initializing the topic 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.

void	callback (const typename TopicT::SharedPtr &msg)
	Callback to be executed when receiving a message.

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::Subscription< TopicT >::SharedPtr	subscription_
	parameter to be used in the on_started event emission

TopicT::SharedPtr	latest_message_
	parameter to store the latest message received in the callback for use in the trigger execution

std::condition_variable	cv_
	condition variable and mutex for synchronizing the callback and trigger execution

std::mutex	block_mutex_

bool	completed_

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 TopicT>
class capabilities2_runner::TopicRunner< TopicT >

Topic runner base class.

Create an topic subsriber for data grabbing capability

Constructor & Destructor Documentation

◆ TopicRunner()

template<typename TopicT >

capabilities2_runner::TopicRunner< TopicT >::TopicRunner ( )

inline

Constructor which needs to be empty due to plugin semantics.

Member Function Documentation

◆ callback()

template<typename TopicT >

void capabilities2_runner::TopicRunner< TopicT >::callback ( const typename TopicT::SharedPtr & msg )

inlineprotected

Callback to be executed when receiving a message.

This function is used grab the messages from the callback queue into a class parameter so that it can be used later on dering trigger

Parameters

msg	message parameter

◆ execution()

template<typename TopicT >

virtual void capabilities2_runner::TopicRunner< TopicT >::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.

◆ init_subscriber()

template<typename TopicT >

virtual void capabilities2_runner::TopicRunner< TopicT >::init_subscriber	(	rclcpp::Node::SharedPtr	node,
		const runner_opts &	run_config,
		const std::string &	topic_name
	)

inlinevirtual

Initializer function for initializing the topic 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
topic_name	topic name used in the yaml file, used to load specific configuration from the run_config

◆ stop()

template<typename TopicT >

virtual void capabilities2_runner::TopicRunner< TopicT >::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

◆ block_mutex_

template<typename TopicT >

std::mutex capabilities2_runner::TopicRunner< TopicT >::block_mutex_

protected

◆ completed_

template<typename TopicT >

bool capabilities2_runner::TopicRunner< TopicT >::completed_

protected

◆ cv_

template<typename TopicT >

std::condition_variable capabilities2_runner::TopicRunner< TopicT >::cv_

protected

condition variable and mutex for synchronizing the callback and trigger execution

◆ latest_message_

template<typename TopicT >

TopicT::SharedPtr capabilities2_runner::TopicRunner< TopicT >::latest_message_

mutableprotected

parameter to store the latest message received in the callback for use in the trigger execution

◆ subscription_

template<typename TopicT >

rclcpp::Subscription<TopicT>::SharedPtr capabilities2_runner::TopicRunner< TopicT >::subscription_

protected

parameter to be used in the on_started event emission

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

capabilities2_runner/include/capabilities2_runner/topic_runner.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TopicRunner()

Member Function Documentation

◆ callback()

◆ execution()

◆ init_subscriber()

◆ stop()

Member Data Documentation

◆ block_mutex_

◆ completed_

◆ cv_

◆ latest_message_

◆ subscription_