A state class for handling ROS 2 action client operations. More...

#include <action_state.hpp>

Inheritance diagram for yasmin_ros::ActionState< ActionT >:

Collaboration diagram for yasmin_ros::ActionState< ActionT >:

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Public Member Functions
	ActionState (std::string action_name, CreateGoalHandler create_goal_handler, std::set< std::string > outcomes, int timeout=-1.0)
	Construct an ActionState with a specific action name and goal handler.

	ActionState (std::string action_name, CreateGoalHandler create_goal_handler, ResultHandler result_handler=nullptr, FeedbackHandler feedback_handler=nullptr, int timeout=-1.0)
	Construct an ActionState with result and feedback handlers.

	ActionState (std::string action_name, CreateGoalHandler create_goal_handler, std::set< std::string > outcomes, ResultHandler result_handler=nullptr, FeedbackHandler feedback_handler=nullptr, int timeout=-1.0)
	Construct an ActionState with outcomes and handlers.

	ActionState (const rclcpp::Node::SharedPtr &node, std::string action_name, CreateGoalHandler create_goal_handler, std::set< std::string > outcomes, ResultHandler result_handler=nullptr, FeedbackHandler feedback_handler=nullptr, int timeout=-1.0)
	Construct an ActionState with a specified node and action name.

void	cancel_state ()
	Cancel the current action state.

void	cancel_done ()
	Notify that the action cancellation has completed.

std::string	execute (std::shared_ptr< yasmin::blackboard::Blackboard > blackboard)
	Execute the action and return the outcome.

Public Member Functions inherited from yasmin::State
	State (std::set< std::string > outcomes)
	Constructs a State with a set of possible outcomes.

std::string	operator() (std::shared_ptr< blackboard::Blackboard > blackboard)
	Executes the state and returns the outcome.

bool	is_canceled () const
	Checks if the state has been canceled.

bool	is_running () const
	Checks if the state is currently running.

std::set< std::string > const &	get_outcomes ()
	Gets the set of possible outcomes for this state.

virtual std::string	to_string ()
	Converts the state to a string representation.

Private Types
using	Goal = typename ActionT::Goal
	Alias for the action goal type.

using	Result = typename ActionT::Result::SharedPtr
	Alias for the action result type.

using	Feedback = typename ActionT::Feedback
	Alias for the action feedback type.

using	SendGoalOptions
	Options for sending goals.

using	ActionClient = typename rclcpp_action::Client<ActionT>::SharedPtr
	Shared pointer type for the action client.

using	GoalHandle = rclcpp_action::ClientGoalHandle<ActionT>
	Handle for the action goal.

using	CreateGoalHandler
	Function type for creating a goal.

using	ResultHandler
	Function type for handling results.

using	FeedbackHandler
	Function type for handling feedback.

Private Member Functions
void	goal_response_callback (const typename GoalHandle::SharedPtr &goal_handle)
	Callback for handling the goal response.

void	result_callback (const typename GoalHandle::WrappedResult &result)
	Callback for handling the result of the action.

Private Attributes
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS 2 node.

std::string	action_name
	Name of the action to communicate with.

ActionClient	action_client
	Shared pointer to the action client.

std::condition_variable	action_done_cond
	Condition variable for action completion.

std::mutex	action_done_mutex
	Mutex for protecting action completion.

std::condition_variable	action_cancel_cond
	Condition variable for action cancellation.

std::mutex	action_cancel_mutex
	Mutex for protecting action cancellation.

Result	action_result
	Shared pointer to the action result.

rclcpp_action::ResultCode	action_status
	Status of the action execution.

std::shared_ptr< GoalHandle >	goal_handle
	Handle for the current goal.

std::mutex	goal_handle_mutex
	Mutex for protecting access to the goal handle.

CreateGoalHandler	create_goal_handler
	Handler function for creating goals.

ResultHandler	result_handler
	Handler function for processing results.

FeedbackHandler	feedback_handler
	Handler function for processing feedback.

int	timeout
	Maximum time to wait for the action server.

Additional Inherited Members
Protected Attributes inherited from yasmin::State
std::set< std::string >	outcomes
	The possible outcomes of this state.

Detailed Description

template<typename ActionT>
class yasmin_ros::ActionState< ActionT >

A state class for handling ROS 2 action client operations.

This class encapsulates the behavior of a ROS 2 action client within a YASMIN state. It allows the creation and management of goals, feedback, and results associated with an action server.

Template Parameters

ActionT The type of the action this state will interface with.

Member Typedef Documentation

◆ ActionClient

template<typename ActionT>

using yasmin_ros::ActionState< ActionT >::ActionClient = typename rclcpp_action::Client<ActionT>::SharedPtr

private

Shared pointer type for the action client.

◆ CreateGoalHandler

template<typename ActionT>

using yasmin_ros::ActionState< ActionT >::CreateGoalHandler

private

Initial value:

std::function<Goal(std::shared_ptr<yasmin::blackboard::Blackboard>)>

yasmin_ros::ActionState::Goal

typename ActionT::Goal Goal

Alias for the action goal type.

Definition action_state.hpp:48

Function type for creating a goal.

◆ Feedback

template<typename ActionT>

using yasmin_ros::ActionState< ActionT >::Feedback = typename ActionT::Feedback

private

Alias for the action feedback type.

◆ FeedbackHandler

template<typename ActionT>

using yasmin_ros::ActionState< ActionT >::FeedbackHandler

private

Initial value:

 
      std::function<void(std::shared_ptr<yasmin::blackboard::Blackboard>,
                         std::shared_ptr<const Feedback>)>

Function type for handling feedback.

◆ Goal

template<typename ActionT>

using yasmin_ros::ActionState< ActionT >::Goal = typename ActionT::Goal

private

Alias for the action goal type.

◆ GoalHandle

template<typename ActionT>

using yasmin_ros::ActionState< ActionT >::GoalHandle = rclcpp_action::ClientGoalHandle<ActionT>

private

Handle for the action goal.

◆ Result

template<typename ActionT>

using yasmin_ros::ActionState< ActionT >::Result = typename ActionT::Result::SharedPtr

private

Alias for the action result type.

◆ ResultHandler

template<typename ActionT>

using yasmin_ros::ActionState< ActionT >::ResultHandler

private

Initial value:

std::function<std::string(

std::shared_ptr<yasmin::blackboard::Blackboard>, Result)>

yasmin_ros::ActionState::Result

typename ActionT::Result::SharedPtr Result

Alias for the action result type.

Definition action_state.hpp:50

Function type for handling results.

◆ SendGoalOptions

template<typename ActionT>

using yasmin_ros::ActionState< ActionT >::SendGoalOptions

private

Initial value:

typename rclcpp_action::Client<ActionT>::SendGoalOptions

Options for sending goals.

Constructor & Destructor Documentation

◆ ActionState() [1/4]

template<typename ActionT>

yasmin_ros::ActionState< ActionT >::ActionState	(	std::string	action_name,
		CreateGoalHandler	create_goal_handler,
		std::set< std::string >	outcomes,
		int	timeout = -1.0 )

inline

Construct an ActionState with a specific action name and goal handler.

This constructor initializes the action state with a specified action name, goal handler, and optional timeout.

Parameters

action_name	The name of the action to communicate with.
create_goal_handler	A function that creates a goal for the action.
outcomes	A set of possible outcomes for this action state.
timeout	(Optional) The maximum time to wait for the action server. Default is -1 (no timeout).

Exceptions

std::invalid_argument if create_goal_handler is nullptr.

◆ ActionState() [2/4]

template<typename ActionT>

yasmin_ros::ActionState< ActionT >::ActionState	(	std::string	action_name,
		CreateGoalHandler	create_goal_handler,
		ResultHandler	result_handler = nullptr,
		FeedbackHandler	feedback_handler = nullptr,
		int	timeout = -1.0 )

inline

Construct an ActionState with result and feedback handlers.

This constructor allows the specification of result and feedback handlers.

Parameters

action_name	The name of the action to communicate with.
create_goal_handler	A function that creates a goal for the action.
result_handler	(Optional) A function to handle the result of the action.
feedback_handler	(Optional) A function to handle feedback from the action.
timeout	(Optional) The maximum time to wait for the action server. Default is -1 (no timeout).

Exceptions

std::invalid_argument if create_goal_handler is nullptr.

◆ ActionState() [3/4]

template<typename ActionT>

yasmin_ros::ActionState< ActionT >::ActionState	(	std::string	action_name,
		CreateGoalHandler	create_goal_handler,
		std::set< std::string >	outcomes,
		ResultHandler	result_handler = nullptr,
		FeedbackHandler	feedback_handler = nullptr,
		int	timeout = -1.0 )

inline

Construct an ActionState with outcomes and handlers.

This constructor allows specifying outcomes along with handlers for results and feedback.

Parameters

action_name	The name of the action to communicate with.
create_goal_handler	A function that creates a goal for the action.
outcomes	A set of possible outcomes for this action state.
result_handler	(Optional) A function to handle the result of the action.
feedback_handler	(Optional) A function to handle feedback from the action.
timeout	(Optional) The maximum time to wait for the action server. Default is -1 (no timeout).

Exceptions

std::invalid_argument if create_goal_handler is nullptr.

◆ ActionState() [4/4]

template<typename ActionT>

yasmin_ros::ActionState< ActionT >::ActionState	(	const rclcpp::Node::SharedPtr &	node,
		std::string	action_name,
		CreateGoalHandler	create_goal_handler,
		std::set< std::string >	outcomes,
		ResultHandler	result_handler = nullptr,
		FeedbackHandler	feedback_handler = nullptr,
		int	timeout = -1.0 )

inline

Construct an ActionState with a specified node and action name.

This constructor allows specifying a ROS 2 node in addition to the action name and goal handler.

Parameters

node	A shared pointer to the ROS 2 node.
action_name	The name of the action to communicate with.
create_goal_handler	A function that creates a goal for the action.
outcomes	A set of possible outcomes for this action state.
result_handler	(Optional) A function to handle the result of the action.
feedback_handler	(Optional) A function to handle feedback from the action.
timeout	(Optional) The maximum time to wait for the action server. Default is -1 (no timeout).

Exceptions

std::invalid_argument if create_goal_handler is nullptr.

Member Function Documentation

◆ cancel_done()

template<typename ActionT>

void yasmin_ros::ActionState< ActionT >::cancel_done ( )

inline

Notify that the action cancellation has completed.

This function is called to notify that the action cancellation process has finished.

◆ cancel_state()

template<typename ActionT>

void yasmin_ros::ActionState< ActionT >::cancel_state ( )

inlinevirtual

Cancel the current action state.

This function cancels the ongoing action and waits for the cancellation to complete.

Reimplemented from yasmin::State.

◆ execute()

template<typename ActionT>

std::string yasmin_ros::ActionState< ActionT >::execute ( std::shared_ptr< yasmin::blackboard::Blackboard > blackboard )

inlinevirtual

Execute the action and return the outcome.

This function creates a goal using the provided goal handler, sends the goal to the action server, and waits for the result or feedback.

Parameters

blackboard A shared pointer to the blackboard used for communication.

Returns: A string representing the outcome of the action execution.

Possible outcomes include:

basic_outcomes::SUCCEED: The action succeeded.
basic_outcomes::ABORT: The action was aborted.
basic_outcomes::CANCEL: The action was canceled.
basic_outcomes::TIMEOUT: The action server was not available in time.

Reimplemented from yasmin::State.

◆ goal_response_callback()

template<typename ActionT>

void yasmin_ros::ActionState< ActionT >::goal_response_callback ( const typename GoalHandle::SharedPtr & goal_handle )

inlineprivate

Callback for handling the goal response.

This function is called when a response for the goal is received.

Parameters

goal_handle A shared pointer to the goal handle.

◆ result_callback()

template<typename ActionT>

void yasmin_ros::ActionState< ActionT >::result_callback ( const typename GoalHandle::WrappedResult & result )

inlineprivate

Callback for handling the result of the action.

This function is called when the action result is available.

Parameters

result The wrapped result of the action.

Member Data Documentation

◆ action_cancel_cond

template<typename ActionT>

std::condition_variable yasmin_ros::ActionState< ActionT >::action_cancel_cond

private

Condition variable for action cancellation.

◆ action_cancel_mutex

template<typename ActionT>

std::mutex yasmin_ros::ActionState< ActionT >::action_cancel_mutex

private

Mutex for protecting action cancellation.

◆ action_client

template<typename ActionT>

ActionClient yasmin_ros::ActionState< ActionT >::action_client

private

Shared pointer to the action client.

◆ action_done_cond

template<typename ActionT>

std::condition_variable yasmin_ros::ActionState< ActionT >::action_done_cond

private

Condition variable for action completion.

◆ action_done_mutex

template<typename ActionT>

std::mutex yasmin_ros::ActionState< ActionT >::action_done_mutex

private

Mutex for protecting action completion.

◆ action_name

template<typename ActionT>

std::string yasmin_ros::ActionState< ActionT >::action_name

private

Name of the action to communicate with.

◆ action_result

template<typename ActionT>

Result yasmin_ros::ActionState< ActionT >::action_result

private

Shared pointer to the action result.

◆ action_status

template<typename ActionT>

rclcpp_action::ResultCode yasmin_ros::ActionState< ActionT >::action_status

private

Status of the action execution.

◆ create_goal_handler

template<typename ActionT>

CreateGoalHandler yasmin_ros::ActionState< ActionT >::create_goal_handler

private

Handler function for creating goals.

◆ feedback_handler

template<typename ActionT>

FeedbackHandler yasmin_ros::ActionState< ActionT >::feedback_handler

private

Handler function for processing feedback.

◆ goal_handle

template<typename ActionT>

std::shared_ptr<GoalHandle> yasmin_ros::ActionState< ActionT >::goal_handle

private

Handle for the current goal.

◆ goal_handle_mutex

template<typename ActionT>

std::mutex yasmin_ros::ActionState< ActionT >::goal_handle_mutex

private

Mutex for protecting access to the goal handle.

◆ node_

template<typename ActionT>

rclcpp::Node::SharedPtr yasmin_ros::ActionState< ActionT >::node_

private

Shared pointer to the ROS 2 node.

◆ result_handler

template<typename ActionT>

ResultHandler yasmin_ros::ActionState< ActionT >::result_handler

private

Handler function for processing results.

◆ timeout

template<typename ActionT>

int yasmin_ros::ActionState< ActionT >::timeout

private

Maximum time to wait for the action server.

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

yasmin_ros/include/yasmin_ros/action_state.hpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ActionClient

◆ CreateGoalHandler

◆ Feedback

◆ FeedbackHandler

◆ Goal

◆ GoalHandle

◆ Result

◆ ResultHandler

◆ SendGoalOptions

Constructor & Destructor Documentation

◆ ActionState() [1/4]

◆ ActionState() [2/4]

◆ ActionState() [3/4]

◆ ActionState() [4/4]

Member Function Documentation

◆ cancel_done()

◆ cancel_state()

◆ execute()

◆ goal_response_callback()

◆ result_callback()

Member Data Documentation

◆ action_cancel_cond

◆ action_cancel_mutex

◆ action_client

◆ action_done_cond

◆ action_done_mutex

◆ action_name

◆ action_result

◆ action_status

◆ create_goal_handler

◆ feedback_handler

◆ goal_handle

◆ goal_handle_mutex

◆ node_

◆ result_handler

◆ timeout