The Module class This class is the base class for all modules. It is a derived class of ROS2 node. It provides an interface for all modules. More...

#include <module.hpp>

Inheritance diagram for Module:

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Collaboration diagram for Module:

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Public Member Functions
	Module (const std::string name)

bool	shouldExit ()

Protected Member Functions
virtual void	onFailureMessage (const ROSChannels::Failure::message_type::SharedPtr)

virtual void	onGetStatusResponse (const ROSChannels::GetStatusResponse::message_type::SharedPtr)

virtual void	onGetStatusMessage (const ROSChannels::GetStatus::message_type::SharedPtr)

virtual void	onInitMessage (const ROSChannels::Init::message_type::SharedPtr)

virtual void	onConnectMessage (const ROSChannels::Connect::message_type::SharedPtr)

virtual void	onDisconnectMessage (const ROSChannels::Disconnect::message_type::SharedPtr)

virtual void	onArmMessage (const ROSChannels::Arm::message_type::SharedPtr)

virtual void	onDisarmMessage (const ROSChannels::Disarm::message_type::SharedPtr)

virtual void	onObjectsConnectedMessage (const ROSChannels::ObjectsConnected::message_type::SharedPtr)

virtual void	onAllClearMessage (const ROSChannels::AllClear::message_type::SharedPtr)

virtual void	onStartMessage (const ROSChannels::Start::message_type::SharedPtr)

virtual void	onStartObjectMessage (const ROSChannels::StartObject::message_type::SharedPtr)

virtual void	onStopMessage (const ROSChannels::Stop::message_type::SharedPtr)

virtual void	onAbortMessage (const ROSChannels::Abort::message_type::SharedPtr)

virtual void	onReplayMessage (const ROSChannels::Replay::message_type::SharedPtr)

virtual void	onExitMessage (const ROSChannels::Exit::message_type::SharedPtr)

template<typename Srv >
bool	callService (const std::chrono::duration< double > &timeout, std::shared_ptr< rclcpp::Client< Srv >> &client, std::shared_ptr< typename Srv::Response > &response)
	This helper function is performs a service call given a client and yields a response. More...

template<typename Srv >
std::shared_ptr< rclcpp::Client< Srv > >	nTimesWaitForService (int n, const std::chrono::duration< double > &timeout, const std::string &serviceName)
	This helper function waits for a service to become available and returns a client. More...

template<typename Srv >
bool	nShotServiceRequest (int n, const std::chrono::duration< double > &timeout, const std::string &serviceName, std::shared_ptr< typename Srv::Response > &response)
	This helper function is used by rosnodes to request a service. More...

Static Protected Member Functions
static void	tryHandleMessage (std::function< void()> tryExecute, std::function< void()> executeIfFail, const std::string &topic, const rclcpp::Logger &logger)
	A try/catch wrapper that logs messages. More...

Protected Attributes
bool	quit =false

ROSChannels::GetStatusResponse::Pub	getStatusResponsePub

Detailed Description

The Module class This class is the base class for all modules. It is a derived class of ROS2 node. It provides an interface for all modules.

Parameters

name	name of the module. Is passed to the ROS node.

Member Function Documentation

◆ callService()

template<typename Srv >

bool Module::callService	(	const std::chrono::duration< double > &	timeout,
		std::shared_ptr< rclcpp::Client< Srv >> &	client,
		std::shared_ptr< typename Srv::Response > &	response
	)

inlineprotected

This helper function is performs a service call given a client and yields a response.

Template Parameters

Srv	The name of the service to request.

Parameters

timeout	The timeout for the service call.
client	The client to use to request the service.
response	The response of the service.

Returns: The response of the service.

◆ nShotServiceRequest()

template<typename Srv >

bool Module::nShotServiceRequest	(	int	n,
		const std::chrono::duration< double > &	timeout,
		const std::string &	serviceName,
		std::shared_ptr< typename Srv::Response > &	response
	)

inlineprotected

This helper function is used by rosnodes to request a service.

Template Parameters

Srv	The name of the service to request.

Parameters

n	Number of times to retry until accepting the service is not available.
timeout	The timeout to wait for the service.
serviceName	The name of the service to request.
response	Response of the service, to be returned.

Returns: The response of the service.

◆ nTimesWaitForService()

template<typename Srv >

std::shared_ptr<rclcpp::Client<Srv> > Module::nTimesWaitForService	(	int	n,
		const std::chrono::duration< double > &	timeout,
		const std::string &	serviceName
	)

inlineprotected

This helper function waits for a service to become available and returns a client.

Template Parameters

Srv	The name of the service to request.

Parameters

n	The number of times to retry.
timeout	The timeout to wait for the service.
serviceName	The name of the service to request.

Returns: The response of the service.

◆ tryHandleMessage()

void Module::tryHandleMessage	(	std::function< void()>	tryExecute,
		std::function< void()>	executeIfFail,
		const std::string &	topic,
		const rclcpp::Logger &	logger
	)

staticprotected

A try/catch wrapper that logs messages.

Parameters

tryExecute	function to execute
executeIfFail	if executing tryExecute fails, this function is executed
topic	The topic to print.
logger	The logger to use.

Returns: true if the initialization was successful, false otherwise

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

common/module.hpp
modules/JournalControl/src/journalcontrol.cpp
common/module.cpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ callService()

◆ nShotServiceRequest()

◆ nTimesWaitForService()

◆ tryHandleMessage()