MotionApproval Class

Everything the motion approval gate needs from its process: whether an app is asking for approval, where an operator's answer is delivered, and the two ROS entities that feed them. More...

Declaration

class moveit_pro::behaviors::internal::MotionApproval { ... }

Included Headers

#include <motion_approval.hpp>

Public Constructors Index

	MotionApproval (const MotionApproval &)=delete
	MotionApproval (MotionApproval &&)=delete
	MotionApproval (const std::shared_ptr< rclcpp::Node > &node, const rclcpp::CallbackGroup::SharedPtr &group, MotionApprovalSwitch::SteadyNowFn now={})
	Subscribes to the app's requests and advertises the answer service, both for the life of this object. More...

Public Operators Index

MotionApproval &	operator= (const MotionApproval &)=delete
MotionApproval &	operator= (MotionApproval &&)=delete

Public Member Functions Index

bool	isArmed () const
	True while some connected Desktop App is asking for every motion to be approved. More...
void	noteApprovalRequested ()
	Record that a connected Desktop App is asking for approval right now. More...
bool	takeDisarmNotice ()
	Claim the one-shot notice that the gate has stopped arming, if there is one to claim. More...
MotionApprovalPromptSlot::AnswerCell	tryClaim (const std::string &preview_id)
	Take the answer cell for a new prompt, or nullptr when another prompt already holds it. More...

Private Member Attributes Index

std::shared_ptr< MotionApprovalSwitch >	switch_
std::shared_ptr< MotionApprovalPromptSlot >	slot_
std::shared_ptr< rclcpp::SubscriptionBase >	subscription_
std::shared_ptr< rclcpp::ServiceBase >	service_

Description

Everything the motion approval gate needs from its process: whether an app is asking for approval, where an operator's answer is delivered, and the two ROS entities that feed them.

One object rather than four members on BehaviorContext, because the parts are only correct together — the subscription is meaningless without the switch it feeds, and a switch nothing feeds silently never arms. Holding them here also keeps that coupling out of the Behavior API: this type lives in internal, so it is not covered by the compatibility guarantee and can change without a deprecation.

The callbacks observe the switch and the slot weakly, because dropping a subscription handle cannot join a callback that is already running and a component container keeps spinning across unload_node. That is what makes destroying this object safe while its node is still being spun.

Definition at line 34 of file motion_approval.hpp.

Public Constructors

MotionApproval()

moveit_pro::behaviors::internal::MotionApproval::MotionApproval (const MotionApproval &)

delete

Definition at line 37 of file motion_approval.hpp.

MotionApproval()

moveit_pro::behaviors::internal::MotionApproval::MotionApproval (MotionApproval &&)

delete

Definition at line 39 of file motion_approval.hpp.

MotionApproval()

moveit_pro::behaviors::internal::MotionApproval::MotionApproval (const std::shared_ptr< rclcpp::Node > & node, const rclcpp::CallbackGroup::SharedPtr & group, MotionApprovalSwitch::SteadyNowFn now={})

Subscribes to the app's requests and advertises the answer service, both for the life of this object.

Parameters

node	Node to create the subscription and service on.
group	Callback group both are created in; reentrant, so an operator's answer is not queued behind an unrelated long callback while a Behavior blocks waiting for it.
now	Steady-clock source for the switch, injectable so a test can advance time without sleeping. Empty means the real clock.

Declaration at line 50 of file motion_approval.hpp, definition at line 109 of file motion_approval.cpp.

Public Operators

operator=()

MotionApproval & moveit_pro::behaviors::internal::MotionApproval::operator= (const MotionApproval &)

delete

Definition at line 38 of file motion_approval.hpp.

operator=()

MotionApproval & moveit_pro::behaviors::internal::MotionApproval::operator= (MotionApproval &&)

delete

Definition at line 40 of file motion_approval.hpp.

Public Member Functions

isArmed()

bool moveit_pro::behaviors::internal::MotionApproval::isArmed ()

True while some connected Desktop App is asking for every motion to be approved.

Declaration at line 54 of file motion_approval.hpp, definition at line 120 of file motion_approval.cpp.

noteApprovalRequested()

void moveit_pro::behaviors::internal::MotionApproval::noteApprovalRequested ()

Record that a connected Desktop App is asking for approval right now.

Declaration at line 57 of file motion_approval.hpp, definition at line 125 of file motion_approval.cpp.

takeDisarmNotice()

bool moveit_pro::behaviors::internal::MotionApproval::takeDisarmNotice ()

Claim the one-shot notice that the gate has stopped arming, if there is one to claim.

Declaration at line 60 of file motion_approval.hpp, definition at line 130 of file motion_approval.cpp.

tryClaim()

MotionApprovalPromptSlot::AnswerCell moveit_pro::behaviors::internal::MotionApproval::tryClaim (const std::string & preview_id)

Take the answer cell for a new prompt, or nullptr when another prompt already holds it.

Declaration at line 63 of file motion_approval.hpp, definition at line 135 of file motion_approval.cpp.

Private Member Attributes

service_

std::shared_ptr<rclcpp::ServiceBase> moveit_pro::behaviors::internal::MotionApproval::service_

Definition at line 70 of file motion_approval.hpp.

slot_

std::shared_ptr<MotionApprovalPromptSlot> moveit_pro::behaviors::internal::MotionApproval::slot_

Definition at line 67 of file motion_approval.hpp.

subscription_

std::shared_ptr<rclcpp::SubscriptionBase> moveit_pro::behaviors::internal::MotionApproval::subscription_

Definition at line 69 of file motion_approval.hpp.

switch_

std::shared_ptr<MotionApprovalSwitch> moveit_pro::behaviors::internal::MotionApproval::switch_

Definition at line 66 of file motion_approval.hpp.

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

• motion_approval.hpp
• motion_approval.cpp

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