MotionApprovalPromptSlot Class

The one place an operator's motion-approval answer is delivered, and the claim that keeps two motions from waiting on it at once. More...

Declaration

class moveit_pro::behaviors::MotionApprovalPromptSlot { ... }

Included Headers

#include <motion_approval_prompt_slot.hpp>

Public Member Typedefs Index

using	AnswerCell = std::shared_ptr< std::atomic< Answer > >

Enumerations Index

enum class	Answer { ... }
	What the operator said, or that they have not said anything yet. More...
enum class	Delivery { ... }
	What became of an answer. Each refusal needs different words to the operator, so they stay distinct. More...

Public Member Functions Index

AnswerCell	tryClaim (std::string preview_id)
	Claim the slot for a new prompt. More...
Delivery	answer (std::string_view preview_id, bool approved)
	Deliver the operator's answer to the prompt it names. More...

Private Member Attributes Index

std::mutex	mutex_
std::weak_ptr< std::atomic< Answer > >	waiting_
std::string	waiting_preview_id_

Description

The one place an operator's motion-approval answer is delivered, and the claim that keeps two motions from waiting on it at once.

The answer arrives on a service advertised for the life of the Runtime, while the prompt that wants it is created and destroyed per motion. Rather than let the service callback reach into the prompt — where it would race the prompt's destruction — the prompt takes a shared answer cell from here and the callback only ever writes to that cell. The cell outlives whichever of the two lets go first, so a late answer lands somewhere harmless instead of on freed memory.

Holding the cell is the claim: it is released when the prompt drops it, including by a throw partway through construction, so there is no path that wedges the gate for the rest of the process.

Every answer names the prompt it is for, so an answer that outlives its own prompt is refused rather than applied to whichever motion happens to be waiting when it arrives.

Definition at line 33 of file motion_approval_prompt_slot.hpp.

Public Member Typedefs

AnswerCell

using moveit_pro::behaviors::MotionApprovalPromptSlot::AnswerCell = std::shared_ptr<std::atomic<Answer> >

Definition at line 53 of file motion_approval_prompt_slot.hpp.

Enumerations

Answer

enum class moveit_pro::behaviors::MotionApprovalPromptSlot::Answer

strong

What the operator said, or that they have not said anything yet.

Enumeration values

kWaiting
kApproved
kDeclined

Definition at line 37 of file motion_approval_prompt_slot.hpp.

Delivery

enum class moveit_pro::behaviors::MotionApprovalPromptSlot::Delivery

strong

What became of an answer. Each refusal needs different words to the operator, so they stay distinct.

Enumeration values

kDelivered
kNothingWaiting
kAnotherPrompt
kAlreadyAnswered

Definition at line 45 of file motion_approval_prompt_slot.hpp.

Public Member Functions

answer()

MotionApprovalPromptSlot::Delivery moveit_pro::behaviors::MotionApprovalPromptSlot::answer (std::string_view preview_id, bool approved)

Deliver the operator's answer to the prompt it names.

Parameters

preview_id	The prompt being answered, as carried by the preview the operator was shown.
approved	What the operator decided.

Declaration at line 69 of file motion_approval_prompt_slot.hpp, definition at line 27 of file motion_approval_prompt_slot.cpp.

tryClaim()

MotionApprovalPromptSlot::AnswerCell moveit_pro::behaviors::MotionApprovalPromptSlot::tryClaim (std::string preview_id)

Claim the slot for a new prompt.

Parameters

preview_id

Identity the answer must name to be accepted. The gate stamps it on the previewed Solution, so the operator's app can echo it back.

Returns

The cell to poll, or nullptr when another prompt already holds the slot. Keep the cell alive for as long as the prompt waits; dropping it releases the claim.

Declaration at line 62 of file motion_approval_prompt_slot.hpp, definition at line 14 of file motion_approval_prompt_slot.cpp.

Private Member Attributes

mutex_

std::mutex moveit_pro::behaviors::MotionApprovalPromptSlot::mutex_

Definition at line 72 of file motion_approval_prompt_slot.hpp.

waiting_

std::weak_ptr<std::atomic<Answer> > moveit_pro::behaviors::MotionApprovalPromptSlot::waiting_

Definition at line 74 of file motion_approval_prompt_slot.hpp.

waiting_preview_id_

std::string moveit_pro::behaviors::MotionApprovalPromptSlot::waiting_preview_id_

Definition at line 76 of file motion_approval_prompt_slot.hpp.

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

• motion_approval_prompt_slot.hpp
• motion_approval_prompt_slot.cpp

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