ConnectPolicyService Class

Create a resident client for a GetActionChunk policy service. More...

Declaration

class moveit_pro::behaviors::ConnectPolicyService { ... }

Included Headers

#include <connect_policy_service.hpp>

Base class

class	AsyncBehaviorBase
	A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More...

Public Constructors Index

	ConnectPolicyService (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

Private Member Functions Index

tl::expected< bool, std::string >	doWork () override
	User-implemented function which handles executing the potentially-long-running process. More...
std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Gets the shared future which is used to monitor the progress of the async process. More...

Private Member Attributes Index

std::string	service_name_
PolicyHandle	policy_
std::shared_future< tl::expected< bool, std::string > >	future_

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

Create a resident client for a GetActionChunk policy service.

Caches and republishes one handle. Changed endpoints fail; readiness is checked by each run's warmup. The remote server must isolate state shared by distinct clients; one-run-at-a-time applies only to this handle.

Data Port Name	Port Type	Object Type
policy_service_name	input	std::string
policy	output	PolicyHandle

Definition at line 24 of file connect_policy_service.hpp.

Public Constructors

ConnectPolicyService()

moveit_pro::behaviors::ConnectPolicyService::ConnectPolicyService (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources)

Parameters

name	Behavior instance name.
config	Behavior Tree port configuration.
shared_resources	Shared ROS node and diagnostics.

Declaration at line 32 of file connect_policy_service.hpp, definition at line 20 of file connect_policy_service.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::ConnectPolicyService::doWork ()

virtual

User-implemented function which handles executing the potentially-long-running process.

This function is called within an async process in a separate thread.

Returns

A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.

Declaration at line 38 of file connect_policy_service.hpp, definition at line 42 of file connect_policy_service.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::ConnectPolicyService::getFuture ()

virtual

Gets the shared future which is used to monitor the progress of the async process.

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

This exists to prevent destruction of the derived class while the async process is still in-progress. If the derived class is destroyed, the definitions of the functions used within doWork() will be destroyed too, which will result in the virtual functions in the base class being called instead and cause a fault.

This function will force derived classes to add an instance of this type and return a reference to it. The base class can then use this virtual function to access the shared future in functions like onStart.

By adding this virtual function we're properly demonstrating how this future depends on things from the derived class and the natural flow of object lifetimes will do the hard work for us. The std::shared_future destructor will get the value of the future before the derived class is destructed assuming it's the last reference to the shared state. Doing it this way means neither the base nor derived class should need to implement a destructor which is a nice property to have.

Returns

Returns the shared_future, which should be owned by the child class.

Declaration at line 39 of file connect_policy_service.hpp, definition at line 79 of file connect_policy_service.cpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::ConnectPolicyService::future_

Definition at line 43 of file connect_policy_service.hpp.

policy_

PolicyHandle moveit_pro::behaviors::ConnectPolicyService::policy_

Definition at line 41 of file connect_policy_service.hpp.

service_name_

std::string moveit_pro::behaviors::ConnectPolicyService::service_name_

Definition at line 40 of file connect_policy_service.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::ConnectPolicyService::metadata ()

static

Declaration at line 35 of file connect_policy_service.hpp, definition at line 34 of file connect_policy_service.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::ConnectPolicyService::providedPorts ()

static

Declaration at line 34 of file connect_policy_service.hpp, definition at line 26 of file connect_policy_service.cpp.

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

• connect_policy_service.hpp
• connect_policy_service.cpp

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