yasmin_ros::ServiceState< ServiceT > Class Template Reference

A state class that interacts with a ROS 2 service. More...

#include <service_state.hpp>

Inheritance diagram for yasmin_ros::ServiceState< ServiceT >:

Collaboration diagram for yasmin_ros::ServiceState< ServiceT >:

Public Member Functions
	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Shared pointer type for ServiceState.
	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes &outcomes, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a request handler and outcomes.
	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes &outcomes, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a request handler and outcomes.
	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, ResponseHandler response_handler, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a request handler and response handler.
	ServiceState (const std::string &srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes &outcomes, ResponseHandler response_handler, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a request handler and response handler.
	ServiceState (const rclcpp::Node::SharedPtr &node, const std::string &srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes &outcomes, ResponseHandler response_handler, rclcpp::CallbackGroup::SharedPtr callback_group, int wait_timeout=-1, int response_timeout=-1, int maximum_retry=3)
	Construct a ServiceState with a ROS 2 node and handlers.
std::string	execute (yasmin::Blackboard::SharedPtr blackboard) override
	Execute the service call and handle the response.
Public Member Functions inherited from yasmin::State
	State (const Outcomes &outcomes)
	Shared pointer type for State.
virtual	~State ()
	Virtual destructor.
Blackboard::SharedPtr	get_parameters_blackboard () const
	Gets the private parameter blackboard of this state.
bool	is_idle () const noexcept
	Checks if the state is idle.
bool	is_running () const noexcept
	Checks if the state is currently running.
bool	is_canceled () const noexcept
	Checks if the state has been canceled.
bool	is_completed () const noexcept
	Checks if the state has completed execution.
std::string	operator() (Blackboard::SharedPtr blackboard)
	Executes the state and returns the outcome.
virtual void	configure ()
	Configures the state before execution.
virtual void	cancel_state ()
	Cancels the current state execution.
Outcomes const &	get_outcomes () const noexcept
	Gets the set of possible outcomes for this state.
void	set_description (const std::string &description)
	Sets the description for this state.
const std::string &	get_description () const
	Gets the description of this state.
void	set_outcome_description (const std::string &outcome, const std::string &description)
	Sets a human-readable description for an outcome.
const std::string &	get_outcome_description (const std::string &outcome) const
	Gets the human-readable description for an outcome.
const std::unordered_map< std::string, std::string > &	get_outcome_descriptions () const
	Gets all outcome descriptions.
void	add_input_key (const BlackboardKeyInfo &key_info)
	Adds an input key to the state's metadata.
void	add_input_key (const std::string &key_name)
	Adds an input key with a name only.
void	add_input_key (const std::string &key_name, const std::string &description)
	Adds an input key with a name and description.
template<typename T>
void	add_input_key (const std::string &key_name, const std::string &description, T default_value)
	Adds an input key with a name, default value and description.
void	add_output_key (const BlackboardKeyInfo &key_info)
	Adds an output key to the state's metadata.
void	add_output_key (const std::string &key_name)
	Adds an output key with a name only.
void	add_output_key (const std::string &key_name, const std::string &description)
	Adds an output key with a name and description.
const std::vector< BlackboardKeyInfo > &	get_input_keys () const
	Gets the input keys metadata.
const std::vector< BlackboardKeyInfo > &	get_output_keys () const
	Gets the output keys metadata.
void	declare_parameter (const BlackboardKeyInfo &parameter_info)
	Declares a parameter in the state metadata.
void	declare_parameter (const std::string &parameter_name)
	Declares a parameter with a name only.
void	declare_parameter (const std::string &parameter_name, const std::string &description)
	Declares a parameter with a name and description.
template<typename T>
void	declare_parameter (const std::string &parameter_name, const std::string &description, T default_value)
	Declares a parameter with a name, description, and default value.
bool	has_parameter (const std::string &parameter_name) const
	Checks if a parameter exists in the state-local parameter storage.
template<typename T>
T	get_parameter (const std::string &parameter_name) const
	Gets a parameter from the state-local parameter storage.
template<typename T>
void	set_parameter (const std::string &parameter_name, T value)
	Sets a parameter in the state-local parameter storage.
bool	is_parameter_declared (const std::string &parameter_name) const
	Checks whether a parameter was declared in the state metadata.
void	copy_parameter_from (const State &source_state, const std::string &source_parameter_name, const std::string &target_parameter_name)
	Copies a parameter value from another state.
const std::vector< BlackboardKeyInfo > &	get_parameters () const
	Gets the declared parameter metadata.
const StateMetadata &	get_metadata () const
	Gets the complete state metadata.
virtual std::string	to_string () const
	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
Outcomes	outcomes
	The possible outcomes of this state.

Private Types
using	Request = typename ServiceT::Request::SharedPtr
	Alias for the service request type.
using	Response = typename ServiceT::Response::SharedPtr
	Alias for the service response type.
using	CreateRequestHandler
	Function type for creating a request.
using	ResponseHandler
	Function type for handling a response.

Private Member Functions
Request	create_request (yasmin::Blackboard::SharedPtr blackboard)
	Create a service request based on the blackboard.
void	response_callback (typename rclcpp::Client< ServiceT >::SharedFuture response)
	Callback for handling the service response.

Private Attributes
std::shared_ptr< rclcpp::Client< ServiceT > >	service_client
	Shared pointer to the service client.
CreateRequestHandler	create_request_handler
	Function to create service requests.
ResponseHandler	response_handler
	Function to handle service responses.
std::string	srv_name
	Name of the service.
int	wait_timeout
	Maximum wait time for service availability.
int	response_timeout
	Timeout for the service response.
int	maximum_retry
	Maximum number of retries.
std::condition_variable	response_done_cond
	Condition variable for response completion.
std::mutex	response_done_mutex
	Mutex for protecting response completion.
Response	service_response
	Shared pointer to the service response.

Detailed Description

template<typename ServiceT>
class yasmin_ros::ServiceState< ServiceT >

A state class that interacts with a ROS 2 service.

This class manages communication with a specified ROS 2 service, allowing it to send requests and handle responses. It extends the base yasmin::State class.

Template Parameters

ServiceT

The type of the ROS 2 service this state interacts with.

Member Typedef Documentation

CreateRequestHandler

template<typename ServiceT>

using yasmin_ros::ServiceState< ServiceT >::CreateRequestHandler

private

Initial value:

 
std::function<Request(yasmin::Blackboard::SharedPtr)>

Function type for creating a request.

Request

template<typename ServiceT>

using yasmin_ros::ServiceState< ServiceT >::Request = typename ServiceT::Request::SharedPtr

private

Alias for the service request type.

Response

template<typename ServiceT>

using yasmin_ros::ServiceState< ServiceT >::Response = typename ServiceT::Response::SharedPtr

private

Alias for the service response type.

ResponseHandler

template<typename ServiceT>

using yasmin_ros::ServiceState< ServiceT >::ResponseHandler

private

Initial value:

 
std::function<std::string(yasmin::Blackboard::SharedPtr, Response)>

Function type for handling a response.

Constructor & Destructor Documentation

ServiceState() [1/6]

template<typename ServiceT>

yasmin_ros::ServiceState< ServiceT >::ServiceState ( const std::string & srv_name, CreateRequestHandler create_request_handler, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3 )

inline

Shared pointer type for ServiceState.

Construct a ServiceState with a request handler and outcomes.

Parameters

srv_name	The name of the service to call.
create_request_handler	Function to create a service request.
wait_timeout	Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).
response_timeout	Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).
maximum_retry	(Optional) Maximum retries of the service if it returns timeout. Default is 3.

ServiceState() [2/6]

template<typename ServiceT>

yasmin_ros::ServiceState< ServiceT >::ServiceState ( const std::string & srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes & outcomes, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3 )

inline

Construct a ServiceState with a request handler and outcomes.

Parameters

srv_name	The name of the service to call.
create_request_handler	Function to create a service request.
outcomes	A set of possible outcomes for this state.
wait_timeout	Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).
response_timeout	Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).
maximum_retry	(Optional) Maximum retries of the service if it returns timeout. Default is 3.

ServiceState() [3/6]

template<typename ServiceT>

yasmin_ros::ServiceState< ServiceT >::ServiceState ( const std::string & srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes & outcomes, rclcpp::CallbackGroup::SharedPtr callback_group = nullptr, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3 )

inline

Construct a ServiceState with a request handler and outcomes.

Parameters

srv_name	The name of the service to call.
create_request_handler	Function to create a service request.
outcomes	A set of possible outcomes for this state.
callback_group	(Optional) The callback group for the subscription.
wait_timeout	Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).
response_timeout	Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).
maximum_retry	(Optional) Maximum retries of the service if it returns timeout. Default is 3.

ServiceState() [4/6]

template<typename ServiceT>

yasmin_ros::ServiceState< ServiceT >::ServiceState ( const std::string & srv_name, CreateRequestHandler create_request_handler, ResponseHandler response_handler, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3 )

inline

Construct a ServiceState with a request handler and response handler.

Parameters

srv_name	The name of the service to call.
create_request_handler	Function to create a service request.
response_handler	(Optional) Function to handle the service response.
wait_timeout	Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).
response_timeout	Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).
maximum_retry	(Optional) Maximum retries of the service if it returns timeout. Default is 3.

ServiceState() [5/6]

template<typename ServiceT>

yasmin_ros::ServiceState< ServiceT >::ServiceState ( const std::string & srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes & outcomes, ResponseHandler response_handler, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3 )

inline

Construct a ServiceState with a request handler and response handler.

Parameters

srv_name	The name of the service to call.
create_request_handler	Function to create a service request.
outcomes	A set of possible outcomes for this state.
response_handler	(Optional) Function to handle the service response.
wait_timeout	Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).
response_timeout	Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).
maximum_retry	(Optional) Maximum retries of the service if it returns timeout. Default is 3.

ServiceState() [6/6]

template<typename ServiceT>

yasmin_ros::ServiceState< ServiceT >::ServiceState ( const rclcpp::Node::SharedPtr & node, const std::string & srv_name, CreateRequestHandler create_request_handler, const yasmin::Outcomes & outcomes, ResponseHandler response_handler, rclcpp::CallbackGroup::SharedPtr callback_group, int wait_timeout = -1, int response_timeout = -1, int maximum_retry = 3 )

inline

Construct a ServiceState with a ROS 2 node and handlers.

Parameters

node	A shared pointer to the ROS 2 node.
srv_name	The name of the service to call.
create_request_handler	Function to create a service request.
outcomes	A set of possible outcomes for this state.
response_handler	(Optional) Function to handle the service response.
callback_group	(Optional) The callback group for the subscription.
wait_timeout	Maximum time to wait for the service to become available, in seconds. Default is -1 (wait indefinitely).
response_timeout	Maximum time to wait for the service response, in seconds. Default is -1 (wait indefinitely).
maximum_retry	(Optional) Maximum retries of the service if it returns timeout. Default is 3.

Exceptions

std::invalid_argument

if the create_request_handler is nullptr.

Member Function Documentation

create_request()

template<typename ServiceT>

Request yasmin_ros::ServiceState< ServiceT >::create_request ( yasmin::Blackboard::SharedPtr blackboard )

inlineprivate

Create a service request based on the blackboard.

Parameters

blackboard

A shared pointer to the blackboard containing data for request creation.

Returns

Request The created service request.

execute()

template<typename ServiceT>

std::string yasmin_ros::ServiceState< ServiceT >::execute ( yasmin::Blackboard::SharedPtr blackboard )

inlineoverridevirtual

Execute the service call and handle the response.

This function creates a request based on the blackboard data, waits for the service to become available, sends the request, and processes the response.

Parameters

blackboard

A shared pointer to the blackboard containing data for request creation.

Returns

std::string The outcome of the service call, which can be SUCCEED, ABORT, or TIMEOUT.

Reimplemented from yasmin::State.

response_callback()

template<typename ServiceT>

void yasmin_ros::ServiceState< ServiceT >::response_callback ( typename rclcpp::Client< ServiceT >::SharedFuture response )

inlineprivate

Callback for handling the service response.

This function is called when the service response is received. It stores the response and signals the waiting thread.

Parameters

response

The response received from the service.

Member Data Documentation

create_request_handler

template<typename ServiceT>

CreateRequestHandler yasmin_ros::ServiceState< ServiceT >::create_request_handler

private

Function to create service requests.

maximum_retry

template<typename ServiceT>

int yasmin_ros::ServiceState< ServiceT >::maximum_retry

private

Maximum number of retries.

node_

template<typename ServiceT>

rclcpp::Node::SharedPtr yasmin_ros::ServiceState< ServiceT >::node_

protected

Shared pointer to the ROS 2 node.

response_done_cond

template<typename ServiceT>

std::condition_variable yasmin_ros::ServiceState< ServiceT >::response_done_cond

private

Condition variable for response completion.

response_done_mutex

template<typename ServiceT>

std::mutex yasmin_ros::ServiceState< ServiceT >::response_done_mutex

private

Mutex for protecting response completion.

response_handler

template<typename ServiceT>

ResponseHandler yasmin_ros::ServiceState< ServiceT >::response_handler

private

Function to handle service responses.

response_timeout

template<typename ServiceT>

int yasmin_ros::ServiceState< ServiceT >::response_timeout

private

Timeout for the service response.

service_client

template<typename ServiceT>

std::shared_ptr<rclcpp::Client<ServiceT> > yasmin_ros::ServiceState< ServiceT >::service_client

private

Shared pointer to the service client.

service_response

template<typename ServiceT>

Response yasmin_ros::ServiceState< ServiceT >::service_response

private

Shared pointer to the service response.

srv_name

template<typename ServiceT>

std::string yasmin_ros::ServiceState< ServiceT >::srv_name

private

Name of the service.

wait_timeout

template<typename ServiceT>

int yasmin_ros::ServiceState< ServiceT >::wait_timeout

private

Maximum wait time for service availability.

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

• yasmin_ros/include/yasmin_ros/service_state.hpp