Class representing the main server of the fabric. More...

#include <server.hpp>

Inheritance diagram for fabric::Fabric:

Collaboration diagram for fabric::Fabric:

Public Types
using	SetFabricPlan = fabric_msgs::srv::SetFabricPlan

using	CancelFabricPlan = fabric_msgs::srv::CancelFabricPlan

using	CompleteFabric = fabric_msgs::srv::CompleteFabric

using	GetPlanStatus = fabric_msgs::srv::GetPlanStatus

Public Member Functions
	Fabric (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Construct a new Fabric object.

void	initialize ()
	Initialize the Fabric node, action server and event client.

Protected Member Functions
void	process ()
	The main process thread of the fabric.

void	setPlanCallback (const std::shared_ptr< SetFabricPlan::Request > request, std::shared_ptr< SetFabricPlan::Response > response)
	Callback function to set a new fabric plan.

void	cancelPlanCallback (const std::shared_ptr< CancelFabricPlan::Request > request, std::shared_ptr< CancelFabricPlan::Response > response)
	Callback function to cancel a fabric plan.

void	setCompleteCallback (const std::shared_ptr< CompleteFabric::Request > request, std::shared_ptr< CompleteFabric::Response > response)
	Callback function to set the completion of a fabric plan.

void	getPlanStatusCallback (const std::shared_ptr< GetPlanStatus::Request > request, std::shared_ptr< GetPlanStatus::Response > response)
	Callback function to get the status of a fabric plan.

fabric_msgs::msg::FabricStatus	status_msg (PlanStatus status) const
	Convert internal plan status to fabric_msgs/PlanStatus message.

void	reset ()
	Reset internal data structures for processing a new plan.

Static Protected Member Functions
static std::string	generate_uuid ()
	Generate a UUID string for plan tracking.

Protected Attributes
std::deque< fabric::Plan >	plan_queue_

fabric::Plan	current_plan_

bool	plan_completed_

std::mutex	plan_mutex_

std::condition_variable	plan_cv_

std::shared_ptr< CapabilityClient >	capability_client_

std::vector< CapabilityInfo >	capability_list_

pluginlib::ClassLoader< fabric::ValidationBase >	validation_loader_

pluginlib::ClassLoader< fabric::ParserBase >	parsing_loader_

std::shared_ptr< fabric::ParserBase >	parsing_plugin_

std::shared_ptr< fabric::ValidationBase >	compatibility_validation_plugin_

std::string	bond_id_

std::map< std::string, std::shared_ptr< BondClient > >	bond_client_cache_

std::string	plan_file_path_

rclcpp::Service< SetFabricPlan >::SharedPtr	plan_server_

rclcpp::Service< CancelFabricPlan >::SharedPtr	cancel_server_

rclcpp::Service< CompleteFabric >::SharedPtr	completion_server_

rclcpp::Service< GetPlanStatus >::SharedPtr	get_plan_status_server_

std::thread	process_thread

Detailed Description

Class representing the main server of the fabric.

Member Typedef Documentation

◆ CancelFabricPlan

using fabric::Fabric::CancelFabricPlan = fabric_msgs::srv::CancelFabricPlan

◆ CompleteFabric

using fabric::Fabric::CompleteFabric = fabric_msgs::srv::CompleteFabric

◆ GetPlanStatus

using fabric::Fabric::GetPlanStatus = fabric_msgs::srv::GetPlanStatus

◆ SetFabricPlan

using fabric::Fabric::SetFabricPlan = fabric_msgs::srv::SetFabricPlan

Constructor & Destructor Documentation

◆ Fabric()

fabric::Fabric::Fabric ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

inline

Construct a new Fabric object.

Parameters

options Node options for the Fabric node

Member Function Documentation

◆ cancelPlanCallback()

void fabric::Fabric::cancelPlanCallback	(	const std::shared_ptr< CancelFabricPlan::Request >	request,
		std::shared_ptr< CancelFabricPlan::Response >	response
	)

inlineprotected

Callback function to cancel a fabric plan.

◆ generate_uuid()

static std::string fabric::Fabric::generate_uuid ( )

inlinestaticprotected

Generate a UUID string for plan tracking.

◆ getPlanStatusCallback()

void fabric::Fabric::getPlanStatusCallback	(	const std::shared_ptr< GetPlanStatus::Request >	request,
		std::shared_ptr< GetPlanStatus::Response >	response
	)

inlineprotected

Callback function to get the status of a fabric plan.

◆ initialize()

void fabric::Fabric::initialize ( )

inline

Initialize the Fabric node, action server and event client.

◆ process()

void fabric::Fabric::process ( )

inlineprotected

The main process thread of the fabric.

◆ reset()

void fabric::Fabric::reset ( )

inlineprotected

Reset internal data structures for processing a new plan.

◆ setCompleteCallback()

void fabric::Fabric::setCompleteCallback	(	const std::shared_ptr< CompleteFabric::Request >	request,
		std::shared_ptr< CompleteFabric::Response >	response
	)

inlineprotected

Callback function to set the completion of a fabric plan.

◆ setPlanCallback()

void fabric::Fabric::setPlanCallback	(	const std::shared_ptr< SetFabricPlan::Request >	request,
		std::shared_ptr< SetFabricPlan::Response >	response
	)

inlineprotected

Callback function to set a new fabric plan.

◆ status_msg()

fabric_msgs::msg::FabricStatus fabric::Fabric::status_msg ( PlanStatus status ) const

inlineprotected

Convert internal plan status to fabric_msgs/PlanStatus message.

Member Data Documentation

◆ bond_client_cache_

std::map<std::string, std::shared_ptr<BondClient> > fabric::Fabric::bond_client_cache_

protected

Manages bond between capabilities server and this client

◆ bond_id_

std::string fabric::Fabric::bond_id_

protected

Bond id

◆ cancel_server_

rclcpp::Service<CancelFabricPlan>::SharedPtr fabric::Fabric::cancel_server_

protected

server to cancel the current plan in the capabilities2 fabric

◆ capability_client_

std::shared_ptr<CapabilityClient> fabric::Fabric::capability_client_

protected

Capability client to interact with capability server

◆ capability_list_

std::vector<CapabilityInfo> fabric::Fabric::capability_list_

protected

Capability List

◆ compatibility_validation_plugin_

std::shared_ptr<fabric::ValidationBase> fabric::Fabric::compatibility_validation_plugin_

protected

shared pointer for compatibility validation plugin

◆ completion_server_

rclcpp::Service<CompleteFabric>::SharedPtr fabric::Fabric::completion_server_

protected

server to get the status of the capabilities2 fabric

◆ current_plan_

fabric::Plan fabric::Fabric::current_plan_

protected

Current plan being processed

◆ get_plan_status_server_

rclcpp::Service<GetPlanStatus>::SharedPtr fabric::Fabric::get_plan_status_server_

protected

server to get the status of a fabric plan

◆ parsing_loader_

pluginlib::ClassLoader<fabric::ParserBase> fabric::Fabric::parsing_loader_

protected

◆ parsing_plugin_

std::shared_ptr<fabric::ParserBase> fabric::Fabric::parsing_plugin_

protected

shared pointer for parsing plugin

◆ plan_completed_

bool fabric::Fabric::plan_completed_

protected

Current plan related synchronization

◆ plan_cv_

std::condition_variable fabric::Fabric::plan_cv_

protected

◆ plan_file_path_

std::string fabric::Fabric::plan_file_path_

protected

File Path link

◆ plan_mutex_

std::mutex fabric::Fabric::plan_mutex_

protected

◆ plan_queue_

std::deque<fabric::Plan> fabric::Fabric::plan_queue_

protected

Vector of plans

◆ plan_server_

rclcpp::Service<SetFabricPlan>::SharedPtr fabric::Fabric::plan_server_

protected

server to set a new plan to the capabilities2 fabric

◆ process_thread

std::thread fabric::Fabric::process_thread

protected

Thread to manage sending goal

◆ validation_loader_

pluginlib::ClassLoader<fabric::ValidationBase> fabric::Fabric::validation_loader_

protected

Plugin loaders for each module package

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

fabric_server/include/fabric_server/server.hpp

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CancelFabricPlan

◆ CompleteFabric

◆ GetPlanStatus

◆ SetFabricPlan

Constructor & Destructor Documentation

◆ Fabric()

Member Function Documentation

◆ cancelPlanCallback()

◆ generate_uuid()

◆ getPlanStatusCallback()

◆ initialize()

◆ process()

◆ reset()

◆ setCompleteCallback()

◆ setPlanCallback()

◆ status_msg()

Member Data Documentation

◆ bond_client_cache_

◆ bond_id_

◆ cancel_server_

◆ capability_client_

◆ capability_list_

◆ compatibility_validation_plugin_

◆ completion_server_

◆ current_plan_

◆ get_plan_status_server_

◆ parsing_loader_

◆ parsing_plugin_

◆ plan_completed_

◆ plan_cv_

◆ plan_file_path_

◆ plan_mutex_

◆ plan_queue_

◆ plan_server_

◆ process_thread

◆ validation_loader_