cl_nav2z::CbWaitNav2Nodes Class Reference

#include <cb_wait_nav2_nodes.hpp>

Inheritance diagram for cl_nav2z::CbWaitNav2Nodes:

Collaboration diagram for cl_nav2z::CbWaitNav2Nodes:

Public Member Functions
	CbWaitNav2Nodes (std::string topicname, std::vector< Nav2Nodes > waitNodes={ Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator})
	CbWaitNav2Nodes (std::vector< Nav2Nodes > waitNodes={ Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator})
void	onEntry () override
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
void	requestForceFinish ()
void	executeOnEntry () override
void	executeOnExit () override
void	waitOnEntryThread (bool requestFinish)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onSuccess (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFinished (TCallbackMethod callback, T *object)
template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFailure (TCallbackMethod callback, T *object)
Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, bool throwExceptionIfNotExist=false)
virtual void	onExit ()

Private Member Functions
void	onMessageReceived (const bond::msg::Status &msg)

Private Attributes
std::string	topicname_
rclcpp::Subscription< bond::msg::Status >::SharedPtr	sub_
std::map< Nav2Nodes, bool >	receivedAliveMsg_
std::vector< Nav2Nodes >	waitNodes_

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 43 of file cb_wait_nav2_nodes.hpp.

Constructor & Destructor Documentation

CbWaitNav2Nodes() [1/2]

cl_nav2z::CbWaitNav2Nodes::CbWaitNav2Nodes	(	std::string	topicname,
		std::vector< Nav2Nodes >	waitNodes = { Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator}
	)

Definition at line 31 of file cb_wait_nav2_nodes.cpp.

: topicname_(topic), waitNodes_(waitNodes)
{
}

CbWaitNav2Nodes() [2/2]

cl_nav2z::CbWaitNav2Nodes::CbWaitNav2Nodes

(

std::vector< Nav2Nodes >

waitNodes = { Nav2Nodes::PlannerServer, Nav2Nodes::ControllerServer, Nav2Nodes::BtNavigator}

)

Definition at line 26 of file cb_wait_nav2_nodes.cpp.

: CbWaitNav2Nodes("/bond", waitNodes)
{
}

Member Function Documentation

onEntry()

void cl_nav2z::CbWaitNav2Nodes::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 80 of file cb_wait_nav2_nodes.cpp.

{
  std::stringstream ss;
  for (auto v : waitNodes_)
  {
    receivedAliveMsg_[v] = false;
    ss << "[CbWaitNav2Nodes] - " << toString(v) << ": waiting" << std::endl;
  }
  RCLCPP_INFO(getLogger(), ss.str().c_str());
 
  //rclcpp::SensorDataQoS qos;
  rclcpp::SubscriptionOptions sub_option;
 
  sub_ = getNode()->create_subscription<bond::msg::Status>(
    topicname_, 20, std::bind(&CbWaitNav2Nodes::onMessageReceived, this, std::placeholders::_1),
    sub_option);
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getNode(), onMessageReceived(), receivedAliveMsg_, sub_, topicname_, cl_nav2z::toString(), and waitNodes_.

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onMessageReceived()

void cl_nav2z::CbWaitNav2Nodes::onMessageReceived ( const bond::msg::Status &  msg )

private

Definition at line 36 of file cb_wait_nav2_nodes.cpp.

{
  auto value = fromString(msg.id);
  bool updated = false;
  // RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] received '%s'", msg.id.c_str());
 
  if (receivedAliveMsg_.count(value) && !receivedAliveMsg_[value])
  {
    RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] '%s' alive received", msg.id.c_str());
    receivedAliveMsg_[value] = true;
    updated = true;
  }
 
  if (updated)
  {
    bool success = true;
    std::stringstream ss;
    for (auto & pair : receivedAliveMsg_)
    {
      if (!pair.second)
      {
        success = false;
      }
      ss << "- " << toString(pair.first) << ": " << (pair.second ? "ALIVE" : "WAITING")
         << std::endl;
    }
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[CbWaitNav2Nodes] waiting nodes status:" << std::endl
                                                             << ss.str().c_str());
 
    if (success)
    {
      RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] success event");
      this->postSuccessEvent();
      sub_ = nullptr;
    }
    else
    {
      RCLCPP_INFO(getLogger(), "[CbWaitNav2Nodes] still missing nodes");
    }
  }
}

References cl_nav2z::fromString(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), receivedAliveMsg_, sub_, and cl_nav2z::toString().

Referenced by onEntry().

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Member Data Documentation

receivedAliveMsg_

std::map<Nav2Nodes, bool> cl_nav2z::CbWaitNav2Nodes::receivedAliveMsg_

private

Definition at line 63 of file cb_wait_nav2_nodes.hpp.

Referenced by onEntry(), and onMessageReceived().

sub_

rclcpp::Subscription<bond::msg::Status>::SharedPtr cl_nav2z::CbWaitNav2Nodes::sub_

private

Definition at line 62 of file cb_wait_nav2_nodes.hpp.

Referenced by onEntry(), and onMessageReceived().

topicname_

std::string cl_nav2z::CbWaitNav2Nodes::topicname_

private

Definition at line 60 of file cb_wait_nav2_nodes.hpp.

Referenced by onEntry().

waitNodes_

std::vector<Nav2Nodes> cl_nav2z::CbWaitNav2Nodes::waitNodes_

private

Definition at line 65 of file cb_wait_nav2_nodes.hpp.

Referenced by onEntry().

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_wait_nav2_nodes.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_wait_nav2_nodes.cpp