WaitForUserDecision Class

Shows a prompt with two buttons in the MoveIt Pro Desktop App and waits for the user to click one. More...

Declaration

class moveit_pro::behaviors::WaitForUserDecision { ... }

Included Headers

#include <wait_for_user_decision.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

	WaitForUserDecision (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
	Publish the prompt and wait for the user's answer. More...
tl::expected< void, std::string >	doHalt () override
	Cancel the in-flight prompt when the Behavior is halted. 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::shared_future< tl::expected< bool, std::string > >	future_
std::shared_ptr< utils::UIRequestResponseClient >	request_client_

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Returns list of ports for this Behavior. More...
static BT::KeyValueVector	metadata ()
	Returns metadata for this Behavior. More...

Description

Shows a prompt with two buttons in the MoveIt Pro Desktop App and waits for the user to click one.

The approve_label button returns SUCCESS. The reject_label button returns FAILURE and logs the answer at INFO level, so a Sequence or Fallback can branch on it without an error in the Alert Sidebar. The Behavior logs an error and fails when a port value is invalid, when no Desktop App is connected or it reports an error, or when nobody answers within timeout_sec seconds. Halting the Behavior closes the prompt in the Desktop App.

Data Port Name	Port Type	Object Type
prompt	input	std::string
approve_label	input	std::string
reject_label	input	std::string
timeout_sec	input	double

Definition at line 29 of file wait_for_user_decision.hpp.

Public Constructors

WaitForUserDecision()

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

explicit

Declaration at line 32 of file wait_for_user_decision.hpp, definition at line 131 of file wait_for_user_decision.cpp.

Private Member Functions

doHalt()

tl::expected< void, std::string > moveit_pro::behaviors::WaitForUserDecision::doHalt ()

virtual

Cancel the in-flight prompt when the Behavior is halted.

Returns

An empty success result.

Declaration at line 59 of file wait_for_user_decision.hpp, definition at line 185 of file wait_for_user_decision.cpp.

doWork()

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

virtual

Publish the prompt and wait for the user's answer.

Returns

true when the user approves, false when the user rejects, or an error message. The tree discards the result of a halted Behavior.

Declaration at line 53 of file wait_for_user_decision.hpp, definition at line 157 of file wait_for_user_decision.cpp.

getFuture()

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

inline 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.

Definition at line 61 of file wait_for_user_decision.hpp.

Private Member Attributes

future_

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

Definition at line 66 of file wait_for_user_decision.hpp.

request_client_

std::shared_ptr<utils::UIRequestResponseClient> moveit_pro::behaviors::WaitForUserDecision::request_client_

Definition at line 67 of file wait_for_user_decision.hpp.

Public Static Functions

metadata()

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

static

Returns metadata for this Behavior.

Returns

BT::KeyValueVector The Behavior metadata.

Declaration at line 45 of file wait_for_user_decision.hpp, definition at line 152 of file wait_for_user_decision.cpp.

providedPorts()

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

static

Returns list of ports for this Behavior.

Returns

BT::PortsList The list of I/O Ports.

Declaration at line 39 of file wait_for_user_decision.hpp, definition at line 139 of file wait_for_user_decision.cpp.

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

• wait_for_user_decision.hpp
• wait_for_user_decision.cpp

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