Abstract class for the Cafer client Main functionnalities: More...

#include <component.hpp>

Public Member Functions
	Component (std::string mgmt_topic, std::string _type, double freq=10, bool new_nodehandle=false)
	constructor of Component More...

	~Component (void)

virtual void	update ()=0
	update Calls the code to take into account what has been received through the subscribers (typically update parameter values by taking into account received values) More...

virtual void	client_connect_to_ros ()=0
	connect_to_ros all the definition of subscriber and publisher must be done in this method. WARNING: this is not called by default. It is usually called in the init() method. More...

virtual void	client_disconnect_from_ros ()=0
	disconnect_from_ros the purpose of this methode is to free the memory of all subscribers and publishers shared_ptrof the node. WARNING: this is not called by default. Is is usually called in the destructor. More...

virtual void	init ()=0
	init the purpose of this method is to make whatever initialization required. More...

virtual bool	is_initialized ()
	is_initialized More...

bool	get_terminate (void) const
	get_terminate return true if the client is down and false otherwise More...

std::string	get_type (void) const
	Get type of the client. More...

long int	get_id (void) const
	Accessor to the client id (unique) More...

bool	is_connected_to_ros () const
	this method inform if the subcriber, publisher or server are up or not. More...

void	connect_to_ros (void)
	Connect the client to ROD, i.e. intantiate subscribers, publishers and services. More...

void	disconnect_from_ros (void)
	Disconnect the client from ROS, i.e. destroy subscribers and publishers. More...

void	shutdown (void)
	Shutting down the component and the corresponding node. More...

std::string	call_launch_file (std::string launch_file, std::string namespace_base, std::string management_topic="")
	Call a launch file. Corresponding nodes are to be launched in a namespace namespace_base_XX where XX is a unique id (provided by the getid service). It will be connected to the management_topic topic (the same than this class if this argument equals ""). More...

void	sleep (void)
	Sleep: should be called by the user code once all the things that have to be done during one iteration of the loop have been done. More...

void	spin (void)
	encapsulation of ros::spinOnce() More...

unsigned int	how_many_client_from_type (std::string _type, bool up_only=true)
	Check the number of client nodes that have been observed up to now (watchdog) and return their number. If up_only is set to true, only the nodes that are up are counted, otherwise, they are all counted. More...

void	get_connected_client_with_type (std::string _type, std::vector< ClientDescriptor > &vcd, bool up_only=true)
	Get the ClientDescriptors of all clients connected to the same management topic and of a certain type. More...

bool	is_it_recent_enough (ros::Time t)
	Check if a given time is "recent" or not with respect to the node client frequency. More...

bool	is_client_up (std::string ns, long int id)
	Check whether a client is up or not (relies on the watchdog functionnality, works only for nodes that are on the same management topic) More...

void	wait_for_client (std::string ns, long int id)
	Waits until the client is up (it needs to be on the same management topic) More...

void	wait_for_init (void)
	Waits for the initialization from the client specific side. More...

std::string	get_namespace (void) const
	Gets node namespace. More...

CreatedNodes_t &	get_created_nodes (void)
	Gets the created_nodes. More...

std::vector< ClientDescriptor > &	get_created_nodes (std::string created_ns)
	Gets the created_nodes. More...

void	kill_created_nodes (void)
	kill all nodes created by this component More...

void	management_cb (const cafer_core::Management &mgmt)
	Management callback: what to do when a management message is received. More...

void	ask_new_ack ()
	ask for acknowledgement to all nodes that are handled by this Component More...

void	ack_creation ()
	Creation of an acknowledgement to respond to an ask for acknowledgment. More...

void	update_watchdog (std::string ns, long int id, std::string _type)
	What to do when a watchdog message is received: update the corresponding time in the watchdog map. More...

ros::Time	get_watchdog (std::string ns, long int id)
	Get the time of the last watchdog message for a particular client. More...

void	watchdog_cb (const ros::TimerEvent &event)
	Send a watchdog message telling that the client is still alive... More...

void	send_complete_node_death (std::string ns, long int id)
	send a request of death to a specific client More...

void	send_local_node_death (std::string ns, long int id)
	send a request for client to disconect him from ros More...

Public Attributes
MapWatchDog_t	map_watchdog

CreatedNodes_t	created_nodes

shared_ptr< NodeHandle >	my_ros_nh

shared_ptr< ros::CallbackQueue >	my_ros_queue

shared_ptr< Subscriber >	management_s

shared_ptr< Publisher >	management_p

Protected Attributes
int	id

std::string	type

int	creator_id

std::string	creator_ns

std::string	created_ns

std::string	_mgmt_topic

bool	terminate

shared_ptr< ros::Rate >	rate

shared_ptr< ros::Timer >	watchdog

bool	_is_init = false

bool	_is_connected_to_ros = false

Detailed Description

Abstract class for the Cafer client Main functionnalities:

watchdog
frequency management
waits for initialization

Definition at line 110 of file component.hpp.

Constructor & Destructor Documentation

cafer_core::Component::Component	(	std::string	mgmt_topic,
		std::string	_type,
		double	freq = `10`,
		bool	new_nodehandle = `false`
	)

constructor of Component

Parameters

management	topic
type	of this component
frequence	of update. 10 by default.
true	if a new nodehandle must be created. false by default

cafer_core::Component::~Component ( void )

inline

Definition at line 124 of file component.hpp.

Member Function Documentation

void cafer_core::Component::ack_creation ( )

Creation of an acknowledgement to respond to an ask for acknowledgment.

void cafer_core::Component::ask_new_ack ( )

ask for acknowledgement to all nodes that are handled by this Component

std::string cafer_core::Component::call_launch_file	(	std::string	launch_file,
		std::string	namespace_base,
		std::string	management_topic = `""`
	)

Call a launch file. Corresponding nodes are to be launched in a namespace namespace_base_XX where XX is a unique id (provided by the getid service). It will be connected to the management_topic topic (the same than this class if this argument equals "").

Parameters

name	of the launch file
base	name of general namespace
name	of the management topic

Returns: the namespace created for this Component

virtual void cafer_core::Component::client_connect_to_ros ( )

pure virtual

connect_to_ros all the definition of subscriber and publisher must be done in this method. WARNING: this is not called by default. It is usually called in the init() method.

virtual void cafer_core::Component::client_disconnect_from_ros ( )

pure virtual

disconnect_from_ros the purpose of this methode is to free the memory of all subscribers and publishers shared_ptrof the node. WARNING: this is not called by default. Is is usually called in the destructor.

void cafer_core::Component::connect_to_ros ( void )

inline

Connect the client to ROD, i.e. intantiate subscribers, publishers and services.

Definition at line 196 of file component.hpp.

void cafer_core::Component::disconnect_from_ros ( void )

inline

Disconnect the client from ROS, i.e. destroy subscribers and publishers.

Definition at line 206 of file component.hpp.

void cafer_core::Component::get_connected_client_with_type	(	std::string	_type,
		std::vector< ClientDescriptor > &	vcd,
		bool	up_only = `true`
	)

Get the ClientDescriptors of all clients connected to the same management topic and of a certain type.

Parameters

	type	of clients
[out]	vector	of client descriptor
	if	true, consider only the clients that are up. true by default

CreatedNodes_t& cafer_core::Component::get_created_nodes ( void )

inline

Gets the created_nodes.

Returns

Definition at line 307 of file component.hpp.

std::vector<ClientDescriptor>& cafer_core::Component::get_created_nodes ( std::string created_ns )

inline

Gets the created_nodes.

Parameters

created_ns

Returns

Definition at line 315 of file component.hpp.

long int cafer_core::Component::get_id ( void ) const

inline

Accessor to the client id (unique)

Returns: the id of client

Definition at line 183 of file component.hpp.

std::string cafer_core::Component::get_namespace ( void ) const

inline

Gets node namespace.

Returns

Definition at line 300 of file component.hpp.

bool cafer_core::Component::get_terminate ( void ) const

inline

get_terminate return true if the client is down and false otherwise

Should the client terminate ? This needs to be taken into account in the user code

Returns: true or false

Definition at line 168 of file component.hpp.

std::string cafer_core::Component::get_type ( void ) const

inline

Get type of the client.

Returns: the type of client.

Definition at line 175 of file component.hpp.

ros::Time cafer_core::Component::get_watchdog	(	std::string	ns,
		long int	id
	)

Get the time of the last watchdog message for a particular client.

Parameters

namespace	of client
id	of client

Returns: time of last watchdog message received

unsigned int cafer_core::Component::how_many_client_from_type	(	std::string	_type,
		bool	up_only = `true`
	)

Check the number of client nodes that have been observed up to now (watchdog) and return their number. If up_only is set to true, only the nodes that are up are counted, otherwise, they are all counted.

Parameters

_type	of components that we want to check
up_only	boolean. true by default.

Returns: number of client still up

virtual void cafer_core::Component::init ( )

pure virtual

init the purpose of this method is to make whatever initialization required.

bool cafer_core::Component::is_client_up	(	std::string	ns,
		long int	id
	)

inline

Check whether a client is up or not (relies on the watchdog functionnality, works only for nodes that are on the same management topic)

Parameters

namespace	of the client
id	of the client

Returns: true if the client is up , false if not

Definition at line 278 of file component.hpp.

bool cafer_core::Component::is_connected_to_ros ( ) const

inline

this method inform if the subcriber, publisher or server are up or not.

Returns: true if the node is connected to ros

Definition at line 190 of file component.hpp.

virtual bool cafer_core::Component::is_initialized ( )

inlinevirtual

is_initialized

Returns: true if the node is initialized false other wise.

Definition at line 158 of file component.hpp.

bool cafer_core::Component::is_it_recent_enough ( ros::Time t )

Check if a given time is "recent" or not with respect to the node client frequency.

Parameters

the	time to check

Returns: true if condition is fulfill, false otherwise

void cafer_core::Component::kill_created_nodes ( void )

kill all nodes created by this component

void cafer_core::Component::management_cb ( const cafer_core::Management & mgmt )

Management callback: what to do when a management message is received.

Parameters

management message

void cafer_core::Component::send_complete_node_death	(	std::string	ns,
		long int	id
	)

send a request of death to a specific client

Parameters

namespace	of client
id	of client

void cafer_core::Component::send_local_node_death	(	std::string	ns,
		long int	id
	)

send a request for client to disconect him from ros

Parameters

namespace	of client
id	of client

void cafer_core::Component::shutdown ( void )

inline

Shutting down the component and the corresponding node.

Definition at line 218 of file component.hpp.

void cafer_core::Component::sleep ( void )

inline

Sleep: should be called by the user code once all the things that have to be done during one iteration of the loop have been done.

Definition at line 238 of file component.hpp.

void cafer_core::Component::spin ( void )

encapsulation of ros::spinOnce()

virtual void cafer_core::Component::update ( )

pure virtual

update Calls the code to take into account what has been received through the subscribers (typically update parameter values by taking into account received values)

void cafer_core::Component::update_watchdog	(	std::string	ns,
		long int	id,
		std::string	_type
	)

What to do when a watchdog message is received: update the corresponding time in the watchdog map.

Parameters

namespace	of client checked
id	of checked client
type	of checked client

void cafer_core::Component::wait_for_client	(	std::string	ns,
		long int	id
	)

Waits until the client is up (it needs to be on the same management topic)

Parameters

namespace	of client
id	of client

void cafer_core::Component::wait_for_init ( void )

Waits for the initialization from the client specific side.

void cafer_core::Component::watchdog_cb ( const ros::TimerEvent & event )

Send a watchdog message telling that the client is still alive...

Parameters

event

Member Data Documentation

bool cafer_core::Component::_is_connected_to_ros = false

protected

Definition at line 408 of file component.hpp.

bool cafer_core::Component::_is_init = false

protected

Definition at line 407 of file component.hpp.

std::string cafer_core::Component::_mgmt_topic

protected

Definition at line 396 of file component.hpp.

CreatedNodes_t cafer_core::Component::created_nodes

map in which are stored all nodes created by a call_launch_file. The key is the required namespace

Definition at line 379 of file component.hpp.

std::string cafer_core::Component::created_ns

protected

Definition at line 395 of file component.hpp.

int cafer_core::Component::creator_id

protected

Definition at line 393 of file component.hpp.

std::string cafer_core::Component::creator_ns

protected

Definition at line 394 of file component.hpp.

int cafer_core::Component::id

protected

Definition at line 391 of file component.hpp.

shared_ptr<Publisher> cafer_core::Component::management_p

publisher to the management topic

Definition at line 387 of file component.hpp.

shared_ptr<Subscriber> cafer_core::Component::management_s

subscriber to the management topic

Definition at line 385 of file component.hpp.

MapWatchDog_t cafer_core::Component::map_watchdog

map in which is stored the last watchdog message received from each client connected to the management topic of this client

Definition at line 376 of file component.hpp.

shared_ptr<NodeHandle> cafer_core::Component::my_ros_nh

Definition at line 381 of file component.hpp.

shared_ptr<ros::CallbackQueue> cafer_core::Component::my_ros_queue

Definition at line 382 of file component.hpp.

shared_ptr<ros::Rate> cafer_core::Component::rate

protected

ROS update rate

Definition at line 400 of file component.hpp.

bool cafer_core::Component::terminate

protected

did we receive the order to stop the client ?

Definition at line 397 of file component.hpp.

std::string cafer_core::Component::type

protected

Definition at line 392 of file component.hpp.

shared_ptr<ros::Timer> cafer_core::Component::watchdog

protected

Watchdog

Definition at line 402 of file component.hpp.

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

/home/lenilegoff/git/cafer/include/cafer_core/component.hpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation