SimpleController Class Reference

The plain, manual controller: a mission script decides everything by hand (which robot runs which capability, when), SimpleController just hosts the FleetSession that makes talking to those robots possible. More...

#include <simple_controller.hpp>

Public Member Functions
void	add_robot (RobotHandle &robot)
	Adds robot to this controller's session.
const std::vector< std::reference_wrapper< RobotHandle > > &	robots () const noexcept
	See FleetSession::robots().
std::optional< std::reference_wrapper< RobotHandle > >	find_robot (const std::string &name) const noexcept
	See FleetSession::find_robot().
void	discover_capabilities (std::chrono::milliseconds window=std::chrono::milliseconds(2500))
	See FleetSession::discover_capabilities().
void	spin_some ()
	See FleetSession::spin_some().
void	spin_for (std::chrono::milliseconds duration)
	See FleetSession::spin_for().
rclcpp::Node::SharedPtr	node () const noexcept
	See FleetSession::node().
void	shutdown ()
	See FleetSession::shutdown().

Detailed Description

The plain, manual controller: a mission script decides everything by hand (which robot runs which capability, when), SimpleController just hosts the FleetSession that makes talking to those robots possible.

Owns a FleetSession by composition and forwards every call straight to it – there is no behavior here beyond the session's own. This is deliberate: SimpleController is meant to be the reference example of "a controller with zero decision-making logic of its own", so it also doubles as the template for writing a different one (an LLMController, a PlanSys2Controller, or one of your own) – see FleetSession's own doc comment for why those should be built the same way (own a FleetSession, add logic around it) rather than by subclassing this class.

Usage:

easyfleet::init(argc, argv);
easyfleet::SimpleController controller;
 
easyfleet::RobotHandle robot_1("robot_1");
easyfleet::RobotHandle robot_2("robot_2");
controller.add_robot(robot_1);
controller.add_robot(robot_2);
 
controller.discover_capabilities();
// ... robot_1.run_capability(...), controller.spin_some()/spin_for(...) ...
 
controller.shutdown();

Member Function Documentation

add_robot()

void add_robot ( RobotHandle & robot )

inline

Adds robot to this controller's session.

Parameters

robot

Must outlive this SimpleController.

discover_capabilities()

void discover_capabilities ( std::chrono::milliseconds window = std::chrono::milliseconds(2500) )

inline

See FleetSession::discover_capabilities().

Parameters

window

How long to listen before returning.

find_robot()

std::optional< std::reference_wrapper< RobotHandle > > find_robot ( const std::string & name ) const

inlinenoexcept

See FleetSession::find_robot().

Parameters

name	Name to look up, as passed to RobotHandle's constructor.

Returns

The matching robot, or std::nullopt if none was added under that name.

node()

rclcpp::Node::SharedPtr node ( ) const

inlinenoexcept

See FleetSession::node().

Returns

The underlying ROS node.

robots()

const std::vector< std::reference_wrapper< RobotHandle > > & robots ( ) const

inlinenoexcept

See FleetSession::robots().

Returns

Every robot added so far.

spin_for()

void spin_for ( std::chrono::milliseconds duration )

inline

See FleetSession::spin_for().

Parameters

duration

How long to block for.

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

• easyfleet_mission_manager/include/easyfleet_mission_manager/simple_controller.hpp