yasmin_ros.monitor_state.MonitorState Class Reference

Inheritance diagram for yasmin_ros.monitor_state.MonitorState:

Collaboration diagram for yasmin_ros.monitor_state.MonitorState:

Public Member Functions
None	__init__ (self, Type msg_type, str topic_name, Set[str] outcomes, Callable monitor_handler, Union[QoSProfile, int] qos=10, CallbackGroup callback_group=None, int msg_queue=10, Node node=None, int timeout=None, int maximum_retry=3)
str	execute (self, Blackboard blackboard)
None	cancel_state (self)

Public Attributes
list	msg_list = []
	List to store queued messages.
int	msg_queue = msg_queue
	Maximum number of messages to queue.

Protected Attributes
Callable[[Blackboard, Any], str]	_monitor_handler = monitor_handler
	Function to handle incoming messages.
Event	_msg_event = Event()
	Event for message reception.
int	_timeout = timeout
	Timeout in seconds for message reception.
Node	_node = node
	Shared pointer to the ROS 2 node.
str	_topic_name = topic_name
	Name of the topic to monitor.
Subscription	_sub = None
	Subscription to the ROS 2 topic.
Type	_msg_type = msg_type
Union[QoSProfile, int]	_qos = qos
CallbackGroup	_callback_group = callback_group
int	_maximum_retry = maximum_retry
	Subscription to the ROS 2 topic.

Private Member Functions
None	__callback (self, Any msg)

Detailed Description

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

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

Attributes:
    _node (Node): Shared pointer to the ROS 2 node.
    _sub (Subscription): Subscription to the ROS 2 topic.
    _monitor_handler (Callable[[Blackboard, Any], str]): Function to handle incoming messages.
    _topic_name (str): Name of the topic to monitor.
    msg_list (List[Any]): List to store queued messages.
    msg_queue (int): Maximum number of messages to queue.
    _timeout (int): Timeout in seconds for message reception.
    _maximum_retry (int): Maximum number of retries.
    _msg_event (Event): Event for message reception.

Constructor & Destructor Documentation

__init__()

None yasmin_ros.monitor_state.MonitorState.__init__	(		self,
		Type	msg_type,
		str	topic_name,
		Set[str]	outcomes,
		Callable	monitor_handler,
		Union[QoSProfile, int]	qos = 10,
		CallbackGroup	callback_group = None,
		int	msg_queue = 10,
		Node	node = None,
		int	timeout = None,
		int	maximum_retry = 3 )

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

Args:
    msg_type (Type): The type of message to be monitored.
    topic_name (str): The name of the topic to monitor.
    outcomes (Set[str]): A set of possible outcomes for this state.
    monitor_handler (Callable[[Blackboard, Any], str]): A callback handler to process incoming messages.
    qos (Union[QoSProfile, int], optional): Quality of Service settings for the topic.
    callback_group (CallbackGroup, optional): The callback group for the subscription.
    msg_queue (int, optional): The maximum number of messages to queue.
    node (Node, optional): The ROS 2 node to use. If None, a default node is created.
    timeout (int, optional): The time in seconds to wait for messages before timing out.
    maximum_retry (int, optional): Maximum retries of the monitor if it returns timeout. Default is 3.

Member Function Documentation

__callback()

None yasmin_ros.monitor_state.MonitorState.__callback ( self, Any msg )

private

Callback function for receiving messages from the subscribed topic.

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

Args:
    msg: The message received from the topic.

cancel_state()

None yasmin_ros.monitor_state.MonitorState.cancel_state

(

self

)

Cancels the current monitor state.

This method cancels the monitor if waiting for messages.

execute()

str yasmin_ros.monitor_state.MonitorState.execute	(		self,
		Blackboard	blackboard )

Execute the monitoring operation and process the first received message.

Args:
    blackboard (Blackboard): A shared pointer to the blackboard for data storage.

Returns:
    str: A string outcome indicating the result of the monitoring operation.

Member Data Documentation

_callback_group

CallbackGroup yasmin_ros.monitor_state.MonitorState._callback_group = callback_group

protected

_maximum_retry

int yasmin_ros.monitor_state.MonitorState._maximum_retry = maximum_retry

protected

Subscription to the ROS 2 topic.

Maximum number of retries.

_monitor_handler

Callable[[Blackboard, Any], str] yasmin_ros.monitor_state.MonitorState._monitor_handler = monitor_handler

protected

Function to handle incoming messages.

_msg_event

Event yasmin_ros.monitor_state.MonitorState._msg_event = Event()

protected

Event for message reception.

_msg_type

Type yasmin_ros.monitor_state.MonitorState._msg_type = msg_type

protected

_node

Node yasmin_ros.monitor_state.MonitorState._node = node

protected

Shared pointer to the ROS 2 node.

_qos

Union[QoSProfile, int] yasmin_ros.monitor_state.MonitorState._qos = qos

protected

_sub

Subscription yasmin_ros.monitor_state.MonitorState._sub = None

protected

Subscription to the ROS 2 topic.

_timeout

int yasmin_ros.monitor_state.MonitorState._timeout = timeout

protected

Timeout in seconds for message reception.

_topic_name

str yasmin_ros.monitor_state.MonitorState._topic_name = topic_name

protected

Name of the topic to monitor.

msg_list

yasmin_ros.monitor_state.MonitorState.msg_list = []

List to store queued messages.

msg_queue

int yasmin_ros.monitor_state.MonitorState.msg_queue = msg_queue

Maximum number of messages to queue.

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

• yasmin_ros/yasmin_ros/monitor_state.py