smacc2::client_bases::ClRosLaunch Class Reference

#include <smacc_ros_launch_client.hpp>

Inheritance diagram for smacc2::client_bases::ClRosLaunch:

Collaboration diagram for smacc2::client_bases::ClRosLaunch:

Public Member Functions
	ClRosLaunch (std::string packageName, std::string launchFilename)
virtual	~ClRosLaunch ()
void	launch ()
void	stop ()
Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual void	onInitialize ()
virtual std::string	getName () const
template<typename TComponent >
TComponent *	getComponent ()
template<typename TComponent >
TComponent *	getComponent (std::string name)
template<typename TComponent >
TComponent *	getComponent (int index)
virtual smacc2::introspection::TypeInfo::Ptr	getType ()
ISmaccStateMachine *	getStateMachine ()
template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::*callback)(), T *object)
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)
const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()

Static Public Member Functions
static std::future< std::string >	executeRosLaunch (std::string packageName, std::string launchFilename, std::function< bool()> cancelCondition)

Public Attributes
std::string	packageName_
std::string	launchFileName_

Protected Types
typedef std::function< void >	cancelCallback

Protected Attributes
std::future< std::string >	result_
std::atomic< bool >	cancellationToken_ = ATOMIC_VAR_INIT(false)
Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Static Protected Attributes
static std::map< std::future< void >, cancelCallback >	detached_futures_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()

Detailed Description

Definition at line 33 of file smacc_ros_launch_client.hpp.

Member Typedef Documentation

cancelCallback

typedef std::function<void> smacc2::client_bases::ClRosLaunch::cancelCallback

protected

Definition at line 54 of file smacc_ros_launch_client.hpp.

Constructor & Destructor Documentation

ClRosLaunch()

smacc2::client_bases::ClRosLaunch::ClRosLaunch	(	std::string	packageName,
		std::string	launchFilename
	)

Definition at line 27 of file smacc_ros_launch_client.cpp.

: packageName_(packageName), launchFileName_(launchFilename), cancellationToken_(false)
{
}

~ClRosLaunch()

smacc2::client_bases::ClRosLaunch::~ClRosLaunch ( )

virtual

Definition at line 32 of file smacc_ros_launch_client.cpp.

{}

Member Function Documentation

executeRosLaunch()

std::future< std::string > smacc2::client_bases::ClRosLaunch::executeRosLaunch ( std::string  packageName, std::string  launchFilename, std::function< bool()>  cancelCondition  )

static

Definition at line 42 of file smacc_ros_launch_client.cpp.

{
  return std::async(
    std::launch::async,
    [=]()
    {
      RCLCPP_WARN_STREAM(
        rclcpp::get_logger("smacc2"), "[ClRosLaunch static] starting ros launch thread ");
 
      std::stringstream cmd;
      cmd << "ros2 launch " << packageName << " " << launchFileName;
 
      std::array<char, 128> buffer;
      std::string result;
      std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(cmd.str().c_str(), "r"), pclose);
      if (!pipe)
      {
        throw std::runtime_error("popen() failed!");
      }
 
      std::stringstream ss;
      bool cancelled = false;
      try
      {
        while (fgets(buffer.data(), buffer.size(), pipe.get()) != nullptr &&
               !(cancelled = cancelCondition()))
        {
          ss << buffer.data();
          if (cancelled)  // break_pipe
          {
            RCLCPP_WARN_STREAM(
              rclcpp::get_logger("smacc2"), "[ClRosLaunch static] cancelling ros launch thread ");
 
            // break pipe
            pclose(pipe.release());
 
            break;
          }
        }
      }
      catch (const std::exception & e)
      {
        std::cerr << e.what() << '\n';
      }
 
      result = ss.str();
      RCLCPP_WARN_STREAM(
        rclcpp::get_logger("smacc2"), "[ClRosLaunch static]] RESULT = \n " << ss.str());
      return result;
    });
}

Referenced by launch(), and smacc2::client_behaviors::CbRosLaunch::onEntry().

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launch()

void smacc2::client_bases::ClRosLaunch::launch

(

)

Definition at line 34 of file smacc_ros_launch_client.cpp.

{
  this->result_ = executeRosLaunch(
    packageName_, launchFileName_, [this]() { return this->cancellationToken_.load(); });
}

References cancellationToken_, executeRosLaunch(), launchFileName_, packageName_, and result_.

Referenced by smacc2::client_behaviors::CbRosLaunch::onEntry().

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stop()

void smacc2::client_bases::ClRosLaunch::stop

(

)

Definition at line 40 of file smacc_ros_launch_client.cpp.

{ cancellationToken_.store(true); }

References cancellationToken_.

Member Data Documentation

cancellationToken_

std::atomic<bool> smacc2::client_bases::ClRosLaunch::cancellationToken_ = ATOMIC_VAR_INIT(false)

protected

Definition at line 58 of file smacc_ros_launch_client.hpp.

Referenced by launch(), and stop().

detached_futures_

std::map<std::future<void>, cancelCallback> smacc2::client_bases::ClRosLaunch::detached_futures_

staticprotected

Definition at line 56 of file smacc_ros_launch_client.hpp.

launchFileName_

std::string smacc2::client_bases::ClRosLaunch::launchFileName_

Definition at line 49 of file smacc_ros_launch_client.hpp.

Referenced by launch(), and smacc2::client_behaviors::CbRosLaunch::onEntry().

packageName_

std::string smacc2::client_bases::ClRosLaunch::packageName_

Definition at line 47 of file smacc_ros_launch_client.hpp.

Referenced by launch(), and smacc2::client_behaviors::CbRosLaunch::onEntry().

result_

std::future<std::string> smacc2::client_bases::ClRosLaunch::result_

protected

Definition at line 52 of file smacc_ros_launch_client.hpp.

Referenced by launch().

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

• smacc2/include/smacc2/client_bases/smacc_ros_launch_client.hpp
• smacc2/src/smacc2/client_bases/smacc_ros_launch_client.cpp