A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective. More...

#include <breakpoint_subscriber.hpp>

Inheritance diagram for moveit_pro::behaviors::BreakpointSubscriber:

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Collaboration diagram for moveit_pro::behaviors::BreakpointSubscriber:

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Public Member Functions
	BreakpointSubscriber (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	BreakpointSubscriber (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< SubscriberInterface< std_msgs::msg::Bool > > subscriber_interface, std::unique_ptr< PublisherInterfaceBase< moveit_studio_agent_msgs::msg::BreakpointStatus > > encountered_publisher_interface, std::unique_ptr< PublisherInterfaceBase< moveit_studio_agent_msgs::msg::BreakpointStatus > > resumed_publisher_interface)
	Constructor with injected interfaces for testing.

Public Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	~AsyncBehaviorBase () override=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Protected Member Functions
tl::expected< bool, std::string >	doWork () override
	Function called in the async process thread after the behavior starts running.

tl::expected< void, std::string >	doHalt () override
	Stops message checking if in progress.

std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Protected Member Functions inherited from moveit_pro::behaviors::AsyncBehaviorBase
void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::StatefulActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

A behavior that subscribes to a topic that can be used for pausing an objective during execution to allow introspection. This behavior will listen on the configured topic for a True/False message which will cause it to continue or abort from a breakpoint that is included in an objective.

Data Port Name	Port Type	Object Type
breakpoint_topic	Input	std::string
message	Input	std::string

The optional message port lets the objective author surface a human-readable hint describing why this breakpoint exists. It is published on /breakpoint_encountered alongside the topic name so the UI can display it under the breakpoint prompt.

Note: IMPORTANT: The breakpoint subscriber has QoS settings of reliable so the publisher to continue or abort is required to match those settings.; EXAMPLE: To continue from a breakpoint on the topic /breakpoint_topic_name the user can enter the following in a terminal to continue. If the value of data is False then the objective will be aborted. ros2 topic pub -1 /breakpoint_topic_name std_msgs/msg/Bool "{data: True}"

Constructor & Destructor Documentation

◆ BreakpointSubscriber() [1/2]

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

◆ BreakpointSubscriber() [2/2]

moveit_pro::behaviors::BreakpointSubscriber::BreakpointSubscriber	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		std::unique_ptr< SubscriberInterface< std_msgs::msg::Bool > >	subscriber_interface,
		std::unique_ptr< PublisherInterfaceBase< moveit_studio_agent_msgs::msg::BreakpointStatus > >	encountered_publisher_interface,
		std::unique_ptr< PublisherInterfaceBase< moveit_studio_agent_msgs::msg::BreakpointStatus > >	resumed_publisher_interface
	)

Constructor with injected interfaces for testing.

Member Function Documentation

◆ doHalt()

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

overrideprotectedvirtual

Stops message checking if in progress.

Halts the subscriber interface to interrupt waiting for messages.

Reimplemented from moveit_pro::behaviors::AsyncBehaviorBase.

◆ doWork()

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

overrideprotectedvirtual

Function called in the async process thread after the behavior starts running.

Initializes the subscriber, waits for a message on the breakpoint topic, and publishes notifications about breakpoint status.

Returns: True if the breakpoint should continue, False if it should abort. Returns an error result if initialization failed or message reception failed.

Implements moveit_pro::behaviors::AsyncBehaviorBase.

◆ getFuture()

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

inlineoverrideprotectedvirtual

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

Implements moveit_pro::behaviors::AsyncBehaviorBase.

◆ metadata()

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

static

◆ providedPorts()

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

static

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members