fabric::CapabilityClient Class Reference

Class for capability client interactions. More...

#include <capability_client.hpp>

Public Types
using	GetInterfaces = capabilities2_msgs::srv::GetInterfaces
using	GetSemanticInterfaces = capabilities2_msgs::srv::GetSemanticInterfaces
using	GetProviders = capabilities2_msgs::srv::GetProviders
using	EstablishBond = capabilities2_msgs::srv::EstablishBond
using	UseCapability = capabilities2_msgs::srv::UseCapability
using	FreeCapability = capabilities2_msgs::srv::FreeCapability
using	ConnectCapability = capabilities2_msgs::srv::ConnectCapability
using	TriggerCapability = capabilities2_msgs::srv::TriggerCapability
using	CapabilityEventCode = capabilities2_msgs::msg::CapabilityEventCode
using	GetInterfacesClient = rclcpp::Client< GetInterfaces >
using	GetSemanticInterfacesClient = rclcpp::Client< GetSemanticInterfaces >
using	GetProvidersClient = rclcpp::Client< GetProviders >
using	EstablishBondClient = rclcpp::Client< EstablishBond >
using	UseCapabilityClient = rclcpp::Client< UseCapability >
using	FreeCapabilityClient = rclcpp::Client< FreeCapability >
using	ConnectCapabilityClient = rclcpp::Client< ConnectCapability >
using	TriggerCapabilityClient = rclcpp::Client< TriggerCapability >

Public Member Functions
	CapabilityClient ()
virtual	~CapabilityClient ()=default
virtual void	initialize (const rclcpp::Node::SharedPtr &node)
	Initialize the capability client with the given ROS2 node.
void	getInterfaces (std::vector< CapabilityInfo > &capabilities)
	Get the Interfaces from the capabilities2 server via related service client.
void	getSemanticInterfaces (std::vector< CapabilityInfo > &capabilities)
	Get the Semantic Interfaces from the capabilities2 server via related service client.
void	getProviders (std::vector< CapabilityInfo > &capabilities)
	Get the Provider information for the related interfaces. T.
std::string	request_bond ()
	Request the bond from the capabilities2 server.
void	use_capabilities (fabric::Plan &plan)
	Request use of capability from capabilities2 server.
void	free_capabilities (fabric::Plan &plan)
	Request free of all started capabilities from capabilities2 server.
void	connect_capability (const std::string &bond_id, uint8_t code, const fabric::node &source, const fabric::node &target)
void	connect_capabilities (fabric::Plan &plan)
	Request connection between capabilities from according to the provided plan.
void	trigger_first_node (fabric::Plan &plan)
	Trigger the first node.

Protected Member Functions
template<typename ClientT >
void	wait_for_service (const std::shared_ptr< ClientT > &client, const std::string &service_name)
	Wait for a service to become available.

Protected Attributes
rclcpp::Node::SharedPtr	node_
	pointer to the ROS2 node
int	service_wait_timeout_sec_ { -1 }
std::string	get_interfaces_
	service names
std::string	get_semantic_interfaces_
std::string	get_providers_
std::string	establish_bond_
std::string	use_capability_
std::string	free_capability_
std::string	trigger_capability_
std::string	configure_capability_
std::string	connect_capability_
std::shared_ptr< bond::Bond >	bond_
	Heart beat bond with capabilities server.
std::vector< std::string >	started_capabilities_
GetInterfacesClient::SharedPtr	get_interfaces_client_
GetSemanticInterfacesClient::SharedPtr	get_sem_interf_client_
GetProvidersClient::SharedPtr	get_providers_client_
EstablishBondClient::SharedPtr	establish_bond_client_
UseCapabilityClient::SharedPtr	use_capability_client_
FreeCapabilityClient::SharedPtr	free_capability_client_
ConnectCapabilityClient::SharedPtr	connect_capability_client_
TriggerCapabilityClient::SharedPtr	trig_capability_client_

Detailed Description

Class for capability client interactions.

Member Typedef Documentation

CapabilityEventCode

using fabric::CapabilityClient::CapabilityEventCode = capabilities2_msgs::msg::CapabilityEventCode

ConnectCapability

using fabric::CapabilityClient::ConnectCapability = capabilities2_msgs::srv::ConnectCapability

ConnectCapabilityClient

using fabric::CapabilityClient::ConnectCapabilityClient = rclcpp::Client<ConnectCapability>

EstablishBond

using fabric::CapabilityClient::EstablishBond = capabilities2_msgs::srv::EstablishBond

EstablishBondClient

using fabric::CapabilityClient::EstablishBondClient = rclcpp::Client<EstablishBond>

FreeCapability

using fabric::CapabilityClient::FreeCapability = capabilities2_msgs::srv::FreeCapability

FreeCapabilityClient

using fabric::CapabilityClient::FreeCapabilityClient = rclcpp::Client<FreeCapability>

GetInterfaces

using fabric::CapabilityClient::GetInterfaces = capabilities2_msgs::srv::GetInterfaces

GetInterfacesClient

using fabric::CapabilityClient::GetInterfacesClient = rclcpp::Client<GetInterfaces>

GetProviders

using fabric::CapabilityClient::GetProviders = capabilities2_msgs::srv::GetProviders

GetProvidersClient

using fabric::CapabilityClient::GetProvidersClient = rclcpp::Client<GetProviders>

GetSemanticInterfaces

using fabric::CapabilityClient::GetSemanticInterfaces = capabilities2_msgs::srv::GetSemanticInterfaces

GetSemanticInterfacesClient

using fabric::CapabilityClient::GetSemanticInterfacesClient = rclcpp::Client<GetSemanticInterfaces>

TriggerCapability

using fabric::CapabilityClient::TriggerCapability = capabilities2_msgs::srv::TriggerCapability

TriggerCapabilityClient

using fabric::CapabilityClient::TriggerCapabilityClient = rclcpp::Client<TriggerCapability>

UseCapability

using fabric::CapabilityClient::UseCapability = capabilities2_msgs::srv::UseCapability

UseCapabilityClient

using fabric::CapabilityClient::UseCapabilityClient = rclcpp::Client<UseCapability>

Constructor & Destructor Documentation

CapabilityClient()

fabric::CapabilityClient::CapabilityClient ( )

inline

~CapabilityClient()

virtual fabric::CapabilityClient::~CapabilityClient ( )

virtualdefault

Member Function Documentation

connect_capabilities()

void fabric::CapabilityClient::connect_capabilities ( fabric::Plan &  plan )

inline

Request connection between capabilities from according to the provided plan.

Exceptions

fabric::fabric_exception

if any connection fails

Parameters

plan	Fabric plan containing the bond id and connections to be established

connect_capability()

void fabric::CapabilityClient::connect_capability ( const std::string &  bond_id, uint8_t  code, const fabric::node &  source, const fabric::node &  target  )

inline

free_capabilities()

void fabric::CapabilityClient::free_capabilities ( fabric::Plan &  plan )

inline

Request free of all started capabilities from capabilities2 server.

Exceptions

fabric::fabric_exception

if any capability fails to free

Parameters

plan	Fabric plan containing the bond id and capabilities to be freed

getInterfaces()

void fabric::CapabilityClient::getInterfaces ( std::vector< CapabilityInfo > &  capabilities )

inline

Get the Interfaces from the capabilities2 server via related service client.

Exceptions

`fabric::fabric_exception`

if the service call fails

Parameters

interfaces

std::vector of interfaces for which the information will be requested

getProviders()

void fabric::CapabilityClient::getProviders ( std::vector< CapabilityInfo > &  capabilities )

inline

Get the Provider information for the related interfaces. T.

Exceptions

`fabric::fabric_exception`

if the service call fails

Parameters

capabilities

std::vector of CapabilityInfo for which the provider information will be requested

getSemanticInterfaces()

void fabric::CapabilityClient::getSemanticInterfaces ( std::vector< CapabilityInfo > &  capabilities )

inline

Get the Semantic Interfaces from the capabilities2 server via related service client.

Exceptions

`fabric::fabric_exception`

if the service call fails

Parameters

interfaces

std::vector of interfaces for which the semantic interfaces will be requested

initialize()

virtual void fabric::CapabilityClient::initialize ( const rclcpp::Node::SharedPtr &  node )

inlinevirtual

Initialize the capability client with the given ROS2 node.

Parameters

node	Shared pointer to the ROS2 node.

request_bond()

std::string fabric::CapabilityClient::request_bond ( )

inline

Request the bond from the capabilities2 server.

Exceptions

`fabric::fabric_exception`

if the service call fails

trigger_first_node()

void fabric::CapabilityClient::trigger_first_node ( fabric::Plan &  plan )

inline

Trigger the first node.

Exceptions

fabric::fabric_exception

if the first capability fails to trigger

Parameters

plan	Fabric plan containing the bond id and connections to be triggered

use_capabilities()

void fabric::CapabilityClient::use_capabilities ( fabric::Plan &  plan )

inline

Request use of capability from capabilities2 server.

Exceptions

fabric::fabric_exception

if any capability fails to start

Parameters

plan	Fabric plan containing the bond id and capabilities to be used

wait_for_service()

template<typename ClientT >

void fabric::CapabilityClient::wait_for_service ( const std::shared_ptr< ClientT > &  client, const std::string &  service_name  )

inlineprotected

Wait for a service to become available.

Member Data Documentation

bond_

std::shared_ptr<bond::Bond> fabric::CapabilityClient::bond_

protected

Heart beat bond with capabilities server.

configure_capability_

std::string fabric::CapabilityClient::configure_capability_

protected

connect_capability_

std::string fabric::CapabilityClient::connect_capability_

protected

connect_capability_client_

ConnectCapabilityClient::SharedPtr fabric::CapabilityClient::connect_capability_client_

protected

configure an selected capability

establish_bond_

std::string fabric::CapabilityClient::establish_bond_

protected

establish_bond_client_

EstablishBondClient::SharedPtr fabric::CapabilityClient::establish_bond_client_

protected

establish bond

free_capability_

std::string fabric::CapabilityClient::free_capability_

protected

free_capability_client_

FreeCapabilityClient::SharedPtr fabric::CapabilityClient::free_capability_client_

protected

free an selected capability

get_interfaces_

std::string fabric::CapabilityClient::get_interfaces_

protected

service names

get_interfaces_client_

GetInterfacesClient::SharedPtr fabric::CapabilityClient::get_interfaces_client_

protected

Get interfaces from capabilities server

get_providers_

std::string fabric::CapabilityClient::get_providers_

protected

get_providers_client_

GetProvidersClient::SharedPtr fabric::CapabilityClient::get_providers_client_

protected

Get providers from capabilities server

get_sem_interf_client_

GetSemanticInterfacesClient::SharedPtr fabric::CapabilityClient::get_sem_interf_client_

protected

Get semantic interfaces from capabilities server

get_semantic_interfaces_

std::string fabric::CapabilityClient::get_semantic_interfaces_

protected

node_

rclcpp::Node::SharedPtr fabric::CapabilityClient::node_

protected

pointer to the ROS2 node

service_wait_timeout_sec_

int fabric::CapabilityClient::service_wait_timeout_sec_ { -1 }

protected

started_capabilities_

std::vector<std::string> fabric::CapabilityClient::started_capabilities_

protected

trig_capability_client_

TriggerCapabilityClient::SharedPtr fabric::CapabilityClient::trig_capability_client_

protected

trigger an selected capability

trigger_capability_

std::string fabric::CapabilityClient::trigger_capability_

protected

use_capability_

std::string fabric::CapabilityClient::use_capability_

protected

use_capability_client_

UseCapabilityClient::SharedPtr fabric::CapabilityClient::use_capability_client_

protected

use an selected capability

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

• fabric_server/include/fabric_server/capability_client.hpp