smacc2::SmaccAsyncClientBehavior Class Reference

#include <smacc_asynchronous_client_behavior.hpp>

Inheritance diagram for smacc2::SmaccAsyncClientBehavior:

Collaboration diagram for smacc2::SmaccAsyncClientBehavior:

Public Member Functions
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	onEntry ()
virtual void	onExit ()

Protected Member Functions
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

Private Member Functions
void	waitFutureIfNotFinished (std::optional< std::future< int > > &threadfut, bool requestFinish)

Private Attributes
std::optional< std::future< int > >	onEntryThread_
std::optional< std::future< int > >	onExitThread_
std::function< void()>	postFinishEventFn_
std::function< void()>	postSuccessEventFn_
std::function< void()>	postFailureEventFn_
SmaccSignal< void()>	onFinished_
SmaccSignal< void()>	onSuccess_
SmaccSignal< void()>	onFailure_
bool	isShutdownRequested_ = false

Detailed Description

Definition at line 55 of file smacc_asynchronous_client_behavior.hpp.

Constructor & Destructor Documentation

~SmaccAsyncClientBehavior()

smacc2::SmaccAsyncClientBehavior::~SmaccAsyncClientBehavior ( )

virtual

Definition at line 151 of file smacc_client_async_behavior.cpp.

{}

Member Function Documentation

dispose()

void smacc2::SmaccAsyncClientBehavior::dispose ( )

overrideprotectedvirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 122 of file smacc_client_async_behavior.cpp.

{
  RCLCPP_DEBUG_STREAM(
    getLogger(), "[" << getName()
                     << "] Destroying client behavior- Waiting finishing of asynchronous onExit "
                        "thread");
  try
  {
    if (this->onExitThread_)
    {
      // this->onExitThread_->get();
      this->onExitThread_->get();
    }
    //this->onExitThread_->get();
  }
  catch (...)
  {
    RCLCPP_DEBUG(
      getLogger(),
      "[SmaccAsyncClientBehavior] trying to Join onExit function, but it was already "
      "finished.");
  }
 
  RCLCPP_DEBUG_STREAM(
    getLogger(), "[" << getName()
                     << "] Destroying client behavior-  onExit thread finished. Proccedding "
                        "destruction.");
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), and onExitThread_.

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executeOnEntry()

void smacc2::SmaccAsyncClientBehavior::executeOnEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 27 of file smacc_client_async_behavior.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] asynchronous onEntry thread started");
  this->onEntryThread_ = std::async(
    std::launch::async,
    [=]
    {
      this->onEntry();
      this->postFinishEventFn_();
      RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] asynchronous onEntry thread finished");
      return 0;
    });
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::onEntry(), onEntryThread_, and postFinishEventFn_.

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executeOnExit()

void smacc2::SmaccAsyncClientBehavior::executeOnExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 105 of file smacc_client_async_behavior.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] onExit - join async onEntry thread");
  this->waitOnEntryThread(true);
 
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "] onExit - Creating asynchronous onExit thread");
  this->onExitThread_ = std::async(
    std::launch::async,
    [=]
    {
      this->onExit();
      RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] asynchronous onExit done.");
      return 0;
    });
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::onExit(), onExitThread_, and waitOnEntryThread().

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isShutdownRequested()

bool smacc2::SmaccAsyncClientBehavior::isShutdownRequested ( )

protected

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.

Definition at line 165 of file smacc_client_async_behavior.cpp.

{
  std::string shut = "";
  if (isShutdownRequested_)
  {
    shut = "True";
  }
  else
  {
    shut = "False";
  }
  // RCLCPP_FATAL_STREAM_THROTTLE(
  //   getLogger(), *(getNode()->get_clock()), 1000, "[" << getName() << "] " << ((uint64_t) this ) << " Is requestForceFinish active? " << shut );
  return isShutdownRequested_;
}

References isShutdownRequested_.

Referenced by cl_nav2z::CbNav2ZClientBehaviorBase::isOwnActionResponse(), cl_nitrosz::CbNav2ZClientBehaviorBase::isOwnActionResponse(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), smacc2::client_behaviors::CbRosLaunch::onEntry(), smacc2::client_behaviors::CbRosLaunch2::onEntry(), smacc2::client_behaviors::CbSequence::onEntry(), smacc2::client_behaviors::CbSleepFor::onEntry(), smacc2::client_behaviors::CbWaitActionServer::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), smacc2::client_behaviors::CbWaitTopic::onEntry(), cl_nav2z::CbActiveStop::onEntry(), and cl_nitrosz::CbActiveStop::onEntry().

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onFailure() [1/2]

template<typename TCallback , typename T >

boost::signals2::connection smacc2::SmaccAsyncClientBehavior::onFailure	(	TCallback	callback,
		T *	object
	)

onFailure() [2/2]

template<typename TCallbackMethod , typename T >

boost::signals2::connection smacc2::SmaccAsyncClientBehavior::onFailure	(	TCallbackMethod	callback,
		T *	object
	)

Definition at line 64 of file smacc_asynchronous_client_behavior_impl.hpp.

{
  return this->getStateMachine()->createSignalConnection(onFailure_, callback, object);
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getStateMachine(), and onFailure_.

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onFinished() [1/2]

template<typename TCallback , typename T >

boost::signals2::connection smacc2::SmaccAsyncClientBehavior::onFinished	(	TCallback	callback,
		T *	object
	)

onFinished() [2/2]

template<typename TCallbackMethod , typename T >

boost::signals2::connection smacc2::SmaccAsyncClientBehavior::onFinished	(	TCallbackMethod	callback,
		T *	object
	)

Definition at line 57 of file smacc_asynchronous_client_behavior_impl.hpp.

{
  return this->getStateMachine()->createSignalConnection(onFinished_, callback, object);
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getStateMachine(), and onFinished_.

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation

(

)

Definition at line 28 of file smacc_asynchronous_client_behavior_impl.hpp.

{
  postFinishEventFn_ = [this]
  {
    this->onFinished_();
    this->postEvent<EvCbFinished<TSourceObject, TOrthogonal>>();
  };
 
  postSuccessEventFn_ = [this]
  {
    this->onSuccess_();
    this->postEvent<EvCbSuccess<TSourceObject, TOrthogonal>>();
  };
 
  postFailureEventFn_ = [this]
  {
    this->onFailure_();
    this->postEvent<EvCbFailure<TSourceObject, TOrthogonal>>();
  };
}

References onFailure_, onFinished_, onSuccess_, postFailureEventFn_, postFinishEventFn_, and postSuccessEventFn_.

onSuccess() [1/2]

template<typename TCallback , typename T >

boost::signals2::connection smacc2::SmaccAsyncClientBehavior::onSuccess	(	TCallback	callback,
		T *	object
	)

Referenced by cl_nav2z::CbNavigateNextWaypointFree::onEntry(), and cl_nitrosz::CbNavigateNextWaypointFree::onEntry().

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onSuccess() [2/2]

template<typename TCallbackMethod , typename T >

boost::signals2::connection smacc2::SmaccAsyncClientBehavior::onSuccess	(	TCallbackMethod	callback,
		T *	object
	)

Definition at line 50 of file smacc_asynchronous_client_behavior_impl.hpp.

{
  return this->getStateMachine()->createSignalConnection(onSuccess_, callback, object);
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getStateMachine(), and onSuccess_.

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postFailureEvent()

void smacc2::SmaccAsyncClientBehavior::postFailureEvent ( )

protected

Definition at line 155 of file smacc_client_async_behavior.cpp.

{ postFailureEventFn_(); }

References postFailureEventFn_.

Referenced by cl_moveit2z::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_moveit2z::CbMoveJoints::moveJoints(), cl_moveit2z::CbMoveEndEffectorRelative::moveRelative(), cl_moveit2z::CbMoveCartesianRelative::moveRelativeCartesian(), cl_moveit2z::CbMoveEndEffector::moveToAbsolutePose(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), smacc2::client_behaviors::CbSequence::onEntry(), smacc2::client_behaviors::CbWaitActionServer::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), smacc2::client_behaviors::CbWaitTopic::onEntry(), cl_moveit2z::CbAttachObject::onEntry(), cl_moveit2z::CbDetachObject::onEntry(), cl_moveit2z::CbMoveEndEffectorTrajectory::onEntry(), cl_nav2z::CbWaitPose::onEntry(), cl_nav2z::CbWaitTransform::onEntry(), cl_nitrosz::CbWaitPose::onEntry(), cl_nitrosz::CbWaitTransform::onEntry(), cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionAbort(), cl_nitrosz::CbNav2ZClientBehaviorBase::onNavigationActionAbort(), cl_lifecyclenode::CbActivate::onOrthogonalAllocation(), cl_lifecyclenode::CbCleanup::onOrthogonalAllocation(), cl_lifecyclenode::CbConfigure::onOrthogonalAllocation(), cl_lifecyclenode::CbDeactivate::onOrthogonalAllocation(), cl_lifecyclenode::CbDeactivateOnExit::onOrthogonalAllocation(), cl_lifecyclenode::CbDestroy::onOrthogonalAllocation(), cl_lifecyclenode::CbShutdown::onOrthogonalAllocation(), and smacc2::client_behaviors::CbSequence::onSubNodeAbort().

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postSuccessEvent()

void smacc2::SmaccAsyncClientBehavior::postSuccessEvent ( )

protected

Definition at line 153 of file smacc_client_async_behavior.cpp.

{ postSuccessEventFn_(); }

References postSuccessEventFn_.

Referenced by cl_moveit2z::CbMoveEndEffectorTrajectory::executeJointSpaceTrajectory(), cl_moveit2z::CbMoveJoints::moveJoints(), cl_moveit2z::CbMoveEndEffectorRelative::moveRelative(), cl_moveit2z::CbMoveCartesianRelative::moveRelativeCartesian(), cl_moveit2z::CbMoveEndEffector::moveToAbsolutePose(), smacc2::client_behaviors::CbServiceCall< ServiceType >::onEntry(), smacc2::client_behaviors::CbSequence::onEntry(), smacc2::client_behaviors::CbSleepFor::onEntry(), smacc2::client_behaviors::CbWaitActionServer::onEntry(), smacc2::client_behaviors::CbWaitNode::onEntry(), smacc2::client_behaviors::CbWaitTopic::onEntry(), cl_moveit2z::CbAttachObject::onEntry(), cl_moveit2z::CbDetachObject::onEntry(), cl_nav2z::CbAbortNavigation::onEntry(), cl_nav2z::CbActiveStop::onEntry(), cl_nav2z::CbLoadWaypointsFile::onEntry(), cl_nav2z::CbPositionControlFreeSpace::onEntry(), cl_nav2z::CbPureSpinning::onEntry(), cl_nav2z::CbWaitPose::onEntry(), cl_nav2z::CbWaitTransform::onEntry(), cl_nitrosz::CbAbortNavigation::onEntry(), cl_nitrosz::CbActiveStop::onEntry(), cl_nitrosz::CbLoadWaypointsFile::onEntry(), cl_nitrosz::CbPositionControlFreeSpace::onEntry(), cl_nitrosz::CbPureSpinning::onEntry(), cl_nitrosz::CbWaitPose::onEntry(), cl_nitrosz::CbWaitTransform::onEntry(), cl_nav2z::CbWaitNav2Nodes::onMessageReceived(), cl_nitrosz::CbWaitNav2Nodes::onMessageReceived(), smacc2::client_behaviors::CbWaitTopicMessage< TMessage >::onMessageReceived(), cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionSuccess(), cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess(), cl_nitrosz::CbNav2ZClientBehaviorBase::onNavigationActionSuccess(), cl_nitrosz::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess(), cl_lifecyclenode::CbActivate::onOrthogonalAllocation(), cl_lifecyclenode::CbCleanup::onOrthogonalAllocation(), cl_lifecyclenode::CbConfigure::onOrthogonalAllocation(), cl_lifecyclenode::CbDeactivate::onOrthogonalAllocation(), cl_lifecyclenode::CbDeactivateOnExit::onOrthogonalAllocation(), cl_lifecyclenode::CbDestroy::onOrthogonalAllocation(), and cl_lifecyclenode::CbShutdown::onOrthogonalAllocation().

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requestForceFinish()

void smacc2::SmaccAsyncClientBehavior::requestForceFinish

(

)

Definition at line 157 of file smacc_client_async_behavior.cpp.

{
  RCLCPP_FATAL_STREAM_THROTTLE(
    getLogger(), *(getNode()->get_clock()), 1000,
    "[" << getName() << "] " << ((uint64_t)this) << " requestForceFinish");
  isShutdownRequested_ = true;
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), and isShutdownRequested_.

Referenced by smacc2::client_behaviors::CbSequence::onSubNodeAbort(), and waitFutureIfNotFinished().

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waitFutureIfNotFinished()

void smacc2::SmaccAsyncClientBehavior::waitFutureIfNotFinished ( std::optional< std::future< int > > &  threadfut, bool  requestFinish  )

private

Definition at line 41 of file smacc_client_async_behavior.cpp.

{
  try
  {
    rclcpp::Rate r(100);
    while (rclcpp::ok())
    {
      //bool valid = threadfut.valid();
      if (threadfut && threadfut->valid())
      {
        auto status = threadfut->wait_for(std::chrono::milliseconds(20));
        if (status == std::future_status::ready)
        // auto status = threadfut->wait();
        // if(status)
        {
          // done
          threadfut->get();
          break;
        }
        else
        {
          // in progress
          RCLCPP_INFO_STREAM(
            getLogger(),
            "[" << getName()
                << "] fut valid but waiting for asynchronous onEntry thread to finish: state: "
                << (int)status);
        }
      }
      else
      {
        RCLCPP_INFO_STREAM(
          getLogger(),
          "[" << getName()
              << "] waiting future onEntryThread. It was not even created. Skipping wait.");
        break;
      }
 
      // r.sleep();
      rclcpp::sleep_for(100ms);
      // rclcpp::spin_some(getNode());
      RCLCPP_WARN_THROTTLE(
        getLogger(), *(getNode()->get_clock()), 1000,
        "[%s] waiting for finishing client behavior, before leaving the state. Is the client "
        "behavior stuck? requesting force finish",
        this->getName().c_str());
 
      if (requestFinish) requestForceFinish();
    }
  }
  catch (const std::exception & e)
  {
    RCLCPP_DEBUG(
      getLogger(),
      "[SmaccAsyncClientBehavior] trying to join function, but it was already finished.");
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), and requestForceFinish().

Referenced by waitOnEntryThread().

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waitOnEntryThread()

void smacc2::SmaccAsyncClientBehavior::waitOnEntryThread

(

bool

requestFinish

)

Definition at line 100 of file smacc_client_async_behavior.cpp.

{
  waitFutureIfNotFinished(this->onEntryThread_, requestFinish);
}

References onEntryThread_, and waitFutureIfNotFinished().

Referenced by executeOnExit().

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Member Data Documentation

isShutdownRequested_

bool smacc2::SmaccAsyncClientBehavior::isShutdownRequested_ = false

private

Definition at line 109 of file smacc_asynchronous_client_behavior.hpp.

Referenced by isShutdownRequested(), and requestForceFinish().

onEntryThread_

std::optional<std::future<int> > smacc2::SmaccAsyncClientBehavior::onEntryThread_

private

Definition at line 98 of file smacc_asynchronous_client_behavior.hpp.

Referenced by executeOnEntry(), and waitOnEntryThread().

onExitThread_

std::optional<std::future<int> > smacc2::SmaccAsyncClientBehavior::onExitThread_

private

Definition at line 99 of file smacc_asynchronous_client_behavior.hpp.

Referenced by dispose(), and executeOnExit().

onFailure_

SmaccSignal<void()> smacc2::SmaccAsyncClientBehavior::onFailure_

private

Definition at line 107 of file smacc_asynchronous_client_behavior.hpp.

Referenced by onFailure(), and onOrthogonalAllocation().

onFinished_

SmaccSignal<void()> smacc2::SmaccAsyncClientBehavior::onFinished_

private

Definition at line 105 of file smacc_asynchronous_client_behavior.hpp.

Referenced by onFinished(), and onOrthogonalAllocation().

onSuccess_

SmaccSignal<void()> smacc2::SmaccAsyncClientBehavior::onSuccess_

private

Definition at line 106 of file smacc_asynchronous_client_behavior.hpp.

Referenced by onOrthogonalAllocation(), and onSuccess().

postFailureEventFn_

std::function<void()> smacc2::SmaccAsyncClientBehavior::postFailureEventFn_

private

Definition at line 103 of file smacc_asynchronous_client_behavior.hpp.

Referenced by onOrthogonalAllocation(), and postFailureEvent().

postFinishEventFn_

std::function<void()> smacc2::SmaccAsyncClientBehavior::postFinishEventFn_

private

Definition at line 101 of file smacc_asynchronous_client_behavior.hpp.

Referenced by executeOnEntry(), and onOrthogonalAllocation().

postSuccessEventFn_

std::function<void()> smacc2::SmaccAsyncClientBehavior::postSuccessEventFn_

private

Definition at line 102 of file smacc_asynchronous_client_behavior.hpp.

Referenced by onOrthogonalAllocation(), and postSuccessEvent().

---

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

• smacc2/include/smacc2/smacc_asynchronous_client_behavior.hpp
• smacc2/include/smacc2/impl/smacc_asynchronous_client_behavior_impl.hpp
• smacc2/src/smacc2/smacc_client_async_behavior.cpp