#include <cb_action_client_behavior_base.hpp>

Inheritance diagram for smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >:

Collaboration diagram for smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >:

Public Types
using	Goal = typename TAction::Goal

using	GoalHandle = rclcpp_action::ClientGoalHandle<TAction>

using	WrappedResult = typename GoalHandle::WrappedResult

using	Feedback = typename TAction::Feedback

using	ActionClientComponent = smacc2::client_core_components::CpActionClient<TAction>

Public Member Functions
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~CbActionClientBehaviorBase ()

void	onExit () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallback callback, T *object)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	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, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename SmaccComponentType >
void	requiresComponent (std::string name, SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

virtual void	onEntry ()

Protected Member Functions
bool	sendGoal (Goal &goal)

void	cancelGoal ()

virtual void	onActionSuccess (const WrappedResult &result)

virtual void	onActionAbort (const WrappedResult &result)

virtual void	onActionFeedback (const Feedback &)

void	setActionClientName (std::string name)

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

Protected Attributes
ActionClientComponent *	actionClient_ = nullptr

std::string	actionClientName_

rclcpp_action::ResultCode	actionResult_ = rclcpp_action::ResultCode::UNKNOWN

std::chrono::milliseconds	goalResponseTimeout_ = std::chrono::milliseconds(10000)

Private Member Functions
void	dispatchActionSuccess (const WrappedResult &result)

void	dispatchActionAbort (const WrappedResult &result)

void	dispatchActionFeedback (const Feedback &feedback)

Private Attributes
bool	resultConnectionsInitialized_ = false

std::atomic< bool >	goalInFlight_ {false}

std::atomic< bool >	goalActivitySeen_ {false}

Detailed Description

template<typename TAction>
class smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >

Definition at line 51 of file cb_action_client_behavior_base.hpp.

Member Typedef Documentation

◆ ActionClientComponent

template<typename TAction >

using smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::ActionClientComponent = smacc2::client_core_components::CpActionClient<TAction>

Definition at line 58 of file cb_action_client_behavior_base.hpp.

◆ Feedback

template<typename TAction >

using smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::Feedback = typename TAction::Feedback

Definition at line 57 of file cb_action_client_behavior_base.hpp.

◆ Goal

template<typename TAction >

using smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::Goal = typename TAction::Goal

Definition at line 54 of file cb_action_client_behavior_base.hpp.

◆ GoalHandle

template<typename TAction >

using smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::GoalHandle = rclcpp_action::ClientGoalHandle<TAction>

Definition at line 55 of file cb_action_client_behavior_base.hpp.

◆ WrappedResult

template<typename TAction >

using smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::WrappedResult = typename GoalHandle::WrappedResult

Definition at line 56 of file cb_action_client_behavior_base.hpp.

Constructor & Destructor Documentation

◆ ~CbActionClientBehaviorBase()

template<typename TAction >

virtual smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::~CbActionClientBehaviorBase ( )

inlinevirtual

Definition at line 86 of file cb_action_client_behavior_base.hpp.

86{}

Member Function Documentation

◆ cancelGoal()

template<typename TAction >

void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::cancelGoal ( )

inlineprotected

Definition at line 173 of file cb_action_client_behavior_base.hpp.

  {
    if (actionClient_ != nullptr)
    {
      actionClient_->cancelGoal();
    }
  }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionClient_, and smacc2::client_core_components::CpActionClient< ActionType >::cancelGoal().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onExit().

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◆ dispatchActionAbort()

template<typename TAction >

void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionAbort ( const WrappedResult & result )

inlineprivate

Definition at line 226 of file cb_action_client_behavior_base.hpp.

  {
    goalActivitySeen_ = true;
    goalInFlight_ = false;
    this->onActionAbort(result);
  }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalActivitySeen_, smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalInFlight_, and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onActionAbort().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation().

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◆ dispatchActionFeedback()

template<typename TAction >

void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionFeedback ( const Feedback & feedback )

inlineprivate

Definition at line 233 of file cb_action_client_behavior_base.hpp.

  {
    goalActivitySeen_ = true;
    this->onActionFeedback(feedback);
  }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalActivitySeen_, and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onActionFeedback().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation().

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◆ dispatchActionSuccess()

template<typename TAction >

void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionSuccess ( const WrappedResult & result )

inlineprivate

Definition at line 219 of file cb_action_client_behavior_base.hpp.

  {
    goalActivitySeen_ = true;
    goalInFlight_ = false;
    this->onActionSuccess(result);
  }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalActivitySeen_, smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalInFlight_, and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onActionSuccess().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation().

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◆ onActionAbort()

template<typename TAction >

virtual void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onActionAbort ( const WrappedResult & result )

inlineprotectedvirtual

Definition at line 191 of file cb_action_client_behavior_base.hpp.

  {
    actionResult_ = result.code;
    RCLCPP_INFO(getLogger(), "[%s] Action failed, propagating failure event", getName().c_str());
    this->postFailureEvent();
  }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionResult_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), and smacc2::SmaccAsyncClientBehavior::postFailureEvent().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionAbort().

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◆ onActionFeedback()

template<typename TAction >

virtual void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onActionFeedback ( const Feedback & )

inlineprotectedvirtual

Definition at line 199 of file cb_action_client_behavior_base.hpp.

199{}

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionFeedback().

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◆ onActionSuccess()

template<typename TAction >

virtual void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onActionSuccess ( const WrappedResult & result )

inlineprotectedvirtual

Definition at line 184 of file cb_action_client_behavior_base.hpp.

  {
    actionResult_ = result.code;
    RCLCPP_INFO(getLogger(), "[%s] Action succeeded, propagating success event", getName().c_str());
    this->postSuccessEvent();
  }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionResult_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionSuccess().

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◆ onExit()

template<typename TAction >

void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbNavigateBackwards, cl_nav2z::CbNavigateForward, cl_nav2z::CbNavigateGlobalPosition, cl_nav2z::CbNavigateNamedWaypoint, cl_nav2z::CbNavigateNextWaypoint, cl_nav2z::CbNavigateNextWaypointUntilReached, cl_nav2z::CbStopNavigation, and cl_nav2z::CbUndoPathBackwards.

Definition at line 93 of file cb_action_client_behavior_base.hpp.

  {
    if (goalInFlight_)
    {
      RCLCPP_WARN(
        getLogger(), "[%s] State exited with the action goal still in flight - cancelling",
        getName().c_str());
      cancelGoal();
    }
  }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::cancelGoal(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalInFlight_.

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◆ onStateOrthogonalAllocation()

template<typename TAction >

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation ( )

inline

Definition at line 61 of file cb_action_client_behavior_base.hpp.

  {
    if (actionClientName_.empty())
    {
      this->requiresComponent(actionClient_, ComponentRequirement::HARD);
    }
    else
    {
      // target a specific named instance when the client holds several
      // CpActionClient components of the same action type
      this->requiresComponent(actionClientName_, actionClient_, ComponentRequirement::HARD);
    }
 
    if (!resultConnectionsInitialized_ && actionClient_ != nullptr)
    {
      actionClient_->onSucceeded(&CbActionClientBehaviorBase::dispatchActionSuccess, this);
      actionClient_->onAborted(&CbActionClientBehaviorBase::dispatchActionAbort, this);
      actionClient_->onCancelled(&CbActionClientBehaviorBase::dispatchActionAbort, this);
      actionClient_->onFeedback(&CbActionClientBehaviorBase::dispatchActionFeedback, this);
      resultConnectionsInitialized_ = true;
    }
 
    smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionClient_, smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionClientName_, smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionAbort(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionFeedback(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionSuccess(), smacc2::HARD, smacc2::client_core_components::CpActionClient< ActionType >::onAborted(), smacc2::client_core_components::CpActionClient< ActionType >::onCancelled(), smacc2::client_core_components::CpActionClient< ActionType >::onFeedback(), smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(), smacc2::client_core_components::CpActionClient< ActionType >::onSucceeded(), smacc2::ISmaccClientBehavior::requiresComponent(), and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::resultConnectionsInitialized_.

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◆ sendGoal()

template<typename TAction >

bool smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::sendGoal ( Goal & goal )

inlineprotected

Definition at line 112 of file cb_action_client_behavior_base.hpp.

  {
    if (actionClient_ == nullptr || !actionClient_->isServerReady())
    {
      RCLCPP_ERROR(
        getLogger(), "[%s] Action server not available, cannot send goal", getName().c_str());
      this->postFailureEvent();
      return false;
    }
 
    goalActivitySeen_ = false;
    auto goalHandleFuture = actionClient_->sendGoal(goal);
 
    // wait for goal acceptance in short slices so a state exit is honored
    auto deadline = std::chrono::steady_clock::now() + goalResponseTimeout_;
    while (!this->isShutdownRequested() && std::chrono::steady_clock::now() < deadline)
    {
      // Feedback or a result arriving proves the goal was accepted even if
      // the goal-response future hasn't been serviced yet: under spin_some, a
      // high-rate feedback stream (NavigateToPose feeds back continuously
      // from acceptance) can starve the action client's response processing
      // for the whole execution. Rejected goals produce no feedback, so their
      // response resolves the future promptly.
      if (goalActivitySeen_)
      {
        goalInFlight_ = true;
        return true;
      }
 
      if (goalHandleFuture.wait_for(std::chrono::milliseconds(50)) == std::future_status::ready)
      {
        if (goalHandleFuture.get() != nullptr)
        {
          goalInFlight_ = true;  // accepted; the result signals will finish the behavior
          return true;
        }
 
        RCLCPP_ERROR(getLogger(), "[%s] Goal was rejected by the action server", getName().c_str());
        this->postFailureEvent();
        return false;
      }
    }
 
    if (!this->isShutdownRequested())
    {
      // No response, no feedback, no result within the window: ambiguous, and
      // observed only under executor starvation with an accepted goal - a
      // genuine rejection resolves the future in milliseconds. Assume the
      // goal is running and let the result signals finish the behavior
      // (fire-and-forget, the pre-template behavior), rather than failing a
      // healthy mission.
      RCLCPP_WARN(
        getLogger(),
        "[%s] No goal response from the action server after %ld ms; assuming the goal was "
        "accepted (a rejection responds promptly) - result signals will finish this behavior",
        getName().c_str(), static_cast<long>(goalResponseTimeout_.count()));
      goalInFlight_ = true;
    }
    return true;
  }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionClient_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalActivitySeen_, smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalInFlight_, smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalResponseTimeout_, smacc2::client_core_components::CpActionClient< ActionType >::isServerReady(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), and smacc2::client_core_components::CpActionClient< ActionType >::sendGoal().

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◆ setActionClientName()

template<typename TAction >

void smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::setActionClientName ( std::string name )

inlineprotected

Definition at line 205 of file cb_action_client_behavior_base.hpp.

205{ actionClientName_ = std::move(name); }

References smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionClientName_.

Member Data Documentation

◆ actionClient_

template<typename TAction >

ActionClientComponent* smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionClient_ = nullptr

protected

Definition at line 207 of file cb_action_client_behavior_base.hpp.

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::cancelGoal(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation(), and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::sendGoal().

◆ actionClientName_

template<typename TAction >

std::string smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionClientName_

protected

Definition at line 208 of file cb_action_client_behavior_base.hpp.

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation(), and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::setActionClientName().

◆ actionResult_

template<typename TAction >

rclcpp_action::ResultCode smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::actionResult_ = rclcpp_action::ResultCode::UNKNOWN

protected

Definition at line 210 of file cb_action_client_behavior_base.hpp.

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onActionAbort(), and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onActionSuccess().

◆ goalActivitySeen_

template<typename TAction >

std::atomic<bool> smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalActivitySeen_ {false}

private

Definition at line 241 of file cb_action_client_behavior_base.hpp.

241{false};

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionAbort(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionFeedback(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionSuccess(), and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::sendGoal().

◆ goalInFlight_

template<typename TAction >

std::atomic<bool> smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalInFlight_ {false}

private

Definition at line 240 of file cb_action_client_behavior_base.hpp.

240{false};

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionAbort(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::dispatchActionSuccess(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onExit(), and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::sendGoal().

◆ goalResponseTimeout_

template<typename TAction >

std::chrono::milliseconds smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::goalResponseTimeout_ = std::chrono::milliseconds(10000)

protected

Definition at line 213 of file cb_action_client_behavior_base.hpp.

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::sendGoal().

◆ resultConnectionsInitialized_

template<typename TAction >

bool smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::resultConnectionsInitialized_ = false

private

Definition at line 239 of file cb_action_client_behavior_base.hpp.

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation().

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

smacc2/include/smacc2/client_behavior_bases/cb_action_client_behavior_base.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ActionClientComponent

◆ Feedback

◆ Goal

◆ GoalHandle

◆ WrappedResult

Constructor & Destructor Documentation

◆ ~CbActionClientBehaviorBase()

Member Function Documentation

◆ cancelGoal()

◆ dispatchActionAbort()

◆ dispatchActionFeedback()

◆ dispatchActionSuccess()

◆ onActionAbort()

◆ onActionFeedback()

◆ onActionSuccess()

◆ onExit()

◆ onStateOrthogonalAllocation()

◆ sendGoal()

◆ setActionClientName()

Member Data Documentation

◆ actionClient_

◆ actionClientName_

◆ actionResult_

◆ goalActivitySeen_

◆ goalInFlight_

◆ goalResponseTimeout_

◆ resultConnectionsInitialized_