yasmin_ros::MonitorState< MsgT > Class Template Reference

Template class to monitor a ROS 2 topic and process incoming messages. More...

#include <monitor_state.hpp>

Inheritance diagram for yasmin_ros::MonitorState< MsgT >:

Collaboration diagram for yasmin_ros::MonitorState< MsgT >:

Public Member Functions
	MonitorState (const std::string &topic_name, const std::set< std::string > &outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos=10, int msg_queue=10, int timeout=-1, int maximum_retry=3)
	Construct a new MonitorState with specific QoS, message queue, and timeout.
	MonitorState (const std::string &topic_name, const std::set< std::string > &outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos=10, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr, int msg_queue=10, int timeout=-1, int maximum_retry=3)
	Construct a new MonitorState with specific QoS, message queue, and timeout.
	MonitorState (const rclcpp::Node::SharedPtr &node, const std::string &topic_name, const std::set< std::string > &outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos=10, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr, int msg_queue=10, int timeout=-1, int maximum_retry=3)
	Construct a new MonitorState with ROS 2 node, specific QoS, message queue, and timeout.
std::string	execute (std::shared_ptr< yasmin::blackboard::Blackboard > blackboard) override
	Execute the monitoring operation and process the first received message.
void	cancel_state ()
	Cancel the current monitor state.
Public Member Functions inherited from yasmin::State
	State (const std::set< std::string > &outcomes)
	Constructs a State with a set of possible outcomes.
StateStatus	get_status () const
	Gets the current status of the state.
bool	is_idle () const
	Checks if the state is idle.
bool	is_running () const
	Checks if the state is currently running.
bool	is_canceled () const
	Checks if the state has been canceled.
bool	is_completed () const
	Checks if the state has completed execution.
std::string	operator() (std::shared_ptr< blackboard::Blackboard > blackboard)
	Executes the state and returns the outcome.
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.

Protected Attributes
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS 2 node.
Protected Attributes inherited from yasmin::State
std::set< std::string >	outcomes
	The possible outcomes of this state.

Private Types
using	MonitorHandler
	Function type for handling messages from topic.

Private Member Functions
void	callback (const typename MsgT::SharedPtr msg)
	Callback function for receiving messages from the subscribed topic.

Private Attributes
std::shared_ptr< rclcpp::Subscription< MsgT > >	sub
std::string	topic_name
rclcpp::QoS	qos
std::vector< std::shared_ptr< MsgT > >	msg_list
MonitorHandler	monitor_handler
int	msg_queue
int	timeout
int	maximum_retry
std::condition_variable	msg_cond
	Condition variable for action completion.
std::mutex	msg_mutex
	Mutex for protecting action completion.

Detailed Description

template<typename MsgT>
class yasmin_ros::MonitorState< MsgT >

Template class to monitor a ROS 2 topic and process incoming messages.

This class provides functionality to subscribe to a ROS 2 topic of type MsgT, execute a custom monitoring handler, and return specific outcomes based on the messages received.

Template Parameters

MsgT	The message type of the topic to subscribe to.

Member Typedef Documentation

MonitorHandler

template<typename MsgT>

using yasmin_ros::MonitorState< MsgT >::MonitorHandler

private

Initial value:

 std::function<std::string(
      std::shared_ptr<yasmin::blackboard::Blackboard>, std::shared_ptr<MsgT>)>

Function type for handling messages from topic.

Constructor & Destructor Documentation

MonitorState() [1/3]

template<typename MsgT>

yasmin_ros::MonitorState< MsgT >::MonitorState ( const std::string & topic_name, const std::set< std::string > & outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos = 10, int msg_queue = 10, int timeout = -1, int maximum_retry = 3 )

inline

Construct a new MonitorState with specific QoS, message queue, and timeout.

Parameters

topic_name	The name of the topic to monitor.
outcomes	A set of possible outcomes for this state.
monitor_handler	A callback handler to process incoming messages.
qos	Quality of Service settings for the topic.
msg_queue	The maximum number of messages to queue.
timeout	The time in seconds to wait for messages before timing out.
maximum_retry	Maximum retries of the service if it returns timeout. Default is 3.

MonitorState() [2/3]

template<typename MsgT>

yasmin_ros::MonitorState< MsgT >::MonitorState ( const std::string & topic_name, const std::set< std::string > & outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos = 10, rclcpp::CallbackGroup::SharedPtr callback_group = nullptr, int msg_queue = 10, int timeout = -1, int maximum_retry = 3 )

inline

Construct a new MonitorState with specific QoS, message queue, and timeout.

Parameters

topic_name	The name of the topic to monitor.
outcomes	A set of possible outcomes for this state.
monitor_handler	A callback handler to process incoming messages.
qos	Quality of Service settings for the topic.
callback_group	The callback group for the subscription.
msg_queue	The maximum number of messages to queue.
timeout	The time in seconds to wait for messages before timing out.
maximum_retry	Maximum retries of the service if it returns timeout. Default is 3.

MonitorState() [3/3]

template<typename MsgT>

yasmin_ros::MonitorState< MsgT >::MonitorState ( const rclcpp::Node::SharedPtr & node, const std::string & topic_name, const std::set< std::string > & outcomes, MonitorHandler monitor_handler, rclcpp::QoS qos = 10, rclcpp::CallbackGroup::SharedPtr callback_group = nullptr, int msg_queue = 10, int timeout = -1, int maximum_retry = 3 )

inline

Construct a new MonitorState with ROS 2 node, specific QoS, message queue, and timeout.

Parameters

node	The ROS 2 node.
topic_name	The name of the topic to monitor.
outcomes	A set of possible outcomes for this state.
monitor_handler	A callback handler to process incoming messages.
qos	Quality of Service settings for the topic.
msg_queue	The maximum number of messages to queue.
timeout	The time in seconds to wait for messages before timing out.
maximum_retry	Maximum retries of the service if it returns timeout. Default is 3.

Member Function Documentation

callback()

template<typename MsgT>

void yasmin_ros::MonitorState< MsgT >::callback ( const typename MsgT::SharedPtr msg )

inlineprivate

Callback function for receiving messages from the subscribed topic.

Adds the message to msg_list maintaining a maximum queue size of msg_queue.

Parameters

msg	The message received from the topic.

cancel_state()

template<typename MsgT>

void yasmin_ros::MonitorState< MsgT >::cancel_state ( )

inlinevirtual

Cancel the current monitor state.

This function cancels the ongoing monitor.

Reimplemented from yasmin::State.

execute()

template<typename MsgT>

std::string yasmin_ros::MonitorState< MsgT >::execute ( std::shared_ptr< yasmin::blackboard::Blackboard > blackboard )

inlineoverridevirtual

Execute the monitoring operation and process the first received message.

Parameters

blackboard

A shared pointer to the blackboard for data storage.

Returns

A string outcome indicating the result of the monitoring operation.

Reimplemented from yasmin::State.

Member Data Documentation

maximum_retry

template<typename MsgT>

int yasmin_ros::MonitorState< MsgT >::maximum_retry

private

Maximum number of retries.

monitor_handler

template<typename MsgT>

MonitorHandler yasmin_ros::MonitorState< MsgT >::monitor_handler

private

Callback function to handle incoming messages.

msg_cond

template<typename MsgT>

std::condition_variable yasmin_ros::MonitorState< MsgT >::msg_cond

private

Condition variable for action completion.

msg_list

template<typename MsgT>

std::vector<std::shared_ptr<MsgT> > yasmin_ros::MonitorState< MsgT >::msg_list

private

List to store queued messages.

msg_mutex

template<typename MsgT>

std::mutex yasmin_ros::MonitorState< MsgT >::msg_mutex

private

Mutex for protecting action completion.

msg_queue

template<typename MsgT>

int yasmin_ros::MonitorState< MsgT >::msg_queue

private

Maximum number of messages to queue.

node_

template<typename MsgT>

rclcpp::Node::SharedPtr yasmin_ros::MonitorState< MsgT >::node_

protected

Shared pointer to the ROS 2 node.

qos

template<typename MsgT>

rclcpp::QoS yasmin_ros::MonitorState< MsgT >::qos

private

Quality of Service settings for the topic.

sub

template<typename MsgT>

std::shared_ptr<rclcpp::Subscription<MsgT> > yasmin_ros::MonitorState< MsgT >::sub

private

Subscription to the ROS 2 topic.

timeout

template<typename MsgT>

int yasmin_ros::MonitorState< MsgT >::timeout

private

Timeout in seconds for message reception.

topic_name

template<typename MsgT>

std::string yasmin_ros::MonitorState< MsgT >::topic_name

private

Name of the topic to monitor.

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

• yasmin_ros/include/yasmin_ros/monitor_state.hpp