yasmin_viewer::YasminViewerNode Class Reference

ROS 2 node that receives state machine descriptions and exposes them for the web viewer. More...

#include <yasmin_viewer_node.hpp>

Inheritance diagram for yasmin_viewer::YasminViewerNode:

Collaboration diagram for yasmin_viewer::YasminViewerNode:

Classes
struct	CachedFsm
	Stores a serialized finite state machine and its last update time. More...

Public Member Functions
	YasminViewerNode ()
	Constructs the YasminViewerNode and initializes subscriptions, parameters, and the web server.
	~YasminViewerNode () override
	Destroys the YasminViewerNode and stops the web server.
	YasminViewerNode (const YasminViewerNode &)=delete
YasminViewerNode &	operator= (const YasminViewerNode &)=delete
std::string	get_fsms_json () const
	Returns the cached finite state machines as a JSON string.
std::string	get_web_root () const
	Returns the configured web root directory.

Private Types
using	StateMachineMsg = yasmin_msgs::msg::StateMachine
using	StateMsg = yasmin_msgs::msg::State
using	TransitionMsg = yasmin_msgs::msg::Transition

Private Member Functions
void	fsm_viewer_cb (const StateMachineMsg::SharedPtr msg)
	Callback for incoming state machine messages.
void	start_server ()
	Starts the embedded web server thread.
void	stop_server ()
	Stops the embedded web server thread.
void	run_server ()
	Runs the embedded web server loop.
void	prune_expired_locked (const std::chrono::steady_clock::time_point &now) const
	Removes expired finite state machines from the cache.

Static Private Member Functions
static std::string	escape_json (const std::string &value)
	Escapes a string for safe JSON serialization.
static std::string	transitions_to_json (const std::vector< TransitionMsg > &transitions)
	Serializes a list of transitions into JSON.
static std::string	state_to_json (const StateMsg &state)
	Serializes a state into JSON.
static std::string	state_machine_to_json (const StateMachineMsg &msg)
	Serializes a full state machine message into JSON.

Private Attributes
std::mutex	fsms_mutex_
	Mutex protecting access to the finite state machine cache.
std::unordered_map< std::string, CachedFsm >	fsms_
	Cache of serialized finite state machines indexed by name.
rclcpp::Subscription< StateMachineMsg >::SharedPtr	fsm_sub_
	Subscription for incoming state machine descriptions.
std::string	host_
	Host address used by the embedded web server.
std::string	web_root_
	Root directory containing the web viewer files.
int64_t	port_
	Port used by the embedded web server.
double	max_age_seconds_
	Maximum cache age in seconds before a finite state machine is removed.
std::atomic_bool	server_running_
	Indicates whether the embedded web server is running.
std::thread	server_thread_
	Background thread executing the embedded web server.

Detailed Description

ROS 2 node that receives state machine descriptions and exposes them for the web viewer.

Member Typedef Documentation

StateMachineMsg

using yasmin_viewer::YasminViewerNode::StateMachineMsg = yasmin_msgs::msg::StateMachine

private

StateMsg

using yasmin_viewer::YasminViewerNode::StateMsg = yasmin_msgs::msg::State

private

TransitionMsg

using yasmin_viewer::YasminViewerNode::TransitionMsg = yasmin_msgs::msg::Transition

private

Constructor & Destructor Documentation

YasminViewerNode() [1/2]

yasmin_viewer::YasminViewerNode::YasminViewerNode

(

)

Constructs the YasminViewerNode and initializes subscriptions, parameters, and the web server.

~YasminViewerNode()

yasmin_viewer::YasminViewerNode::~YasminViewerNode ( )

override

Destroys the YasminViewerNode and stops the web server.

YasminViewerNode() [2/2]

yasmin_viewer::YasminViewerNode::YasminViewerNode ( const YasminViewerNode & )

delete

Member Function Documentation

escape_json()

std::string yasmin_viewer::YasminViewerNode::escape_json ( const std::string & value )

staticprivate

Escapes a string for safe JSON serialization.

Parameters

value

Input string.

Returns

Escaped JSON string.

fsm_viewer_cb()

void yasmin_viewer::YasminViewerNode::fsm_viewer_cb ( const StateMachineMsg::SharedPtr msg )

private

Callback for incoming state machine messages.

Parameters

msg	Received state machine message.

get_fsms_json()

std::string yasmin_viewer::YasminViewerNode::get_fsms_json

(

)

const

Returns the cached finite state machines as a JSON string.

Returns

JSON representation of all cached finite state machines.

get_web_root()

std::string yasmin_viewer::YasminViewerNode::get_web_root

(

)

const

Returns the configured web root directory.

Returns

Path to the web root directory.

operator=()

YasminViewerNode & yasmin_viewer::YasminViewerNode::operator= ( const YasminViewerNode & )

delete

prune_expired_locked()

void yasmin_viewer::YasminViewerNode::prune_expired_locked ( const std::chrono::steady_clock::time_point & now ) const

private

Removes expired finite state machines from the cache.

Parameters

now	Current time used for age comparison.

run_server()

void yasmin_viewer::YasminViewerNode::run_server ( )

private

Runs the embedded web server loop.

start_server()

void yasmin_viewer::YasminViewerNode::start_server ( )

private

Starts the embedded web server thread.

state_machine_to_json()

std::string yasmin_viewer::YasminViewerNode::state_machine_to_json ( const StateMachineMsg & msg )

staticprivate

Serializes a full state machine message into JSON.

Parameters

msg	State machine message to serialize.

Returns

JSON representation of the state machine.

state_to_json()

std::string yasmin_viewer::YasminViewerNode::state_to_json ( const StateMsg & state )

staticprivate

Serializes a state into JSON.

Parameters

state

State message to serialize.

Returns

JSON representation of the state.

stop_server()

void yasmin_viewer::YasminViewerNode::stop_server ( )

private

Stops the embedded web server thread.

transitions_to_json()

std::string yasmin_viewer::YasminViewerNode::transitions_to_json ( const std::vector< TransitionMsg > & transitions )

staticprivate

Serializes a list of transitions into JSON.

Parameters

transitions

List of transitions.

Returns

JSON representation of the transitions.

Member Data Documentation

fsm_sub_

rclcpp::Subscription<StateMachineMsg>::SharedPtr yasmin_viewer::YasminViewerNode::fsm_sub_

private

Subscription for incoming state machine descriptions.

fsms_

std::unordered_map<std::string, CachedFsm> yasmin_viewer::YasminViewerNode::fsms_

mutableprivate

Cache of serialized finite state machines indexed by name.

fsms_mutex_

std::mutex yasmin_viewer::YasminViewerNode::fsms_mutex_

mutableprivate

Mutex protecting access to the finite state machine cache.

host_

std::string yasmin_viewer::YasminViewerNode::host_

private

Host address used by the embedded web server.

max_age_seconds_

double yasmin_viewer::YasminViewerNode::max_age_seconds_

private

Maximum cache age in seconds before a finite state machine is removed.

port_

int64_t yasmin_viewer::YasminViewerNode::port_

private

Port used by the embedded web server.

server_running_

std::atomic_bool yasmin_viewer::YasminViewerNode::server_running_

private

Indicates whether the embedded web server is running.

server_thread_

std::thread yasmin_viewer::YasminViewerNode::server_thread_

private

Background thread executing the embedded web server.

web_root_

std::string yasmin_viewer::YasminViewerNode::web_root_

private

Root directory containing the web viewer files.

---

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

• yasmin_viewer/include/yasmin_viewer/yasmin_viewer_node.hpp
• yasmin_viewer/src/yasmin_viewer/yasmin_viewer_node.cpp