Lifecycle node that advertises a single action as a "capability". More...

#include <capability.hpp>

Inheritance diagram for Capability< ActionServerT >:

Public Types
using	CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
	Lifecycle transition result type shared with rclcpp_lifecycle.
using	ActionServerBaseT = ActionServerBase<typename ActionServerT::ActionType>
	The ActionServerBase<...> specialization backing this capability.
Public Types inherited from CapabilityNodeBase
using	SharedPtr = std::shared_ptr<CapabilityNodeBase>
	Shared pointer to a CapabilityNodeBase.
using	CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
	Lifecycle transition result type shared with rclcpp_lifecycle.

Public Member Functions
	Capability (const std::string &capability_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructs the capability node.
ActionServerBaseT::SharedPtr	get_action_server () const noexcept
	The action server backing this capability.
const std::string &	get_capability_name () const noexcept override
	The capability identity field published on /capabilities and /capabilities_status.
const std::string &	get_robot_name () const noexcept override
	This node's namespace, without the leading '/' (empty if none), e.g.
const std::string &	get_resolved_action_name () const noexcept
	Fully-qualified name of the action this capability exposes, e.g.
CallbackReturn	configure_node () override
	Drive the underlying lifecycle node from UNCONFIGURED to INACTIVE.
CallbackReturn	activate_node () override
	Drive the underlying lifecycle node from INACTIVE to ACTIVE.
CallbackReturn	deactivate_node () override
	Drive the underlying lifecycle node from ACTIVE to INACTIVE.
CallbackReturn	cleanup_node () override
	Drive the underlying lifecycle node from INACTIVE to UNCONFIGURED.
CallbackReturn	shutdown_node () override
	Drive the underlying lifecycle node to FINALIZED, from whatever state it is currently in.
uint8_t	get_current_state_id () const override
	The underlying lifecycle node's current state id.
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface () override
	So a Deployment can add the underlying node to its shared executor without knowing its concrete type.

Protected Member Functions
CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
	Reads capabilities_file and configures the contained ActionServerT.
CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
	Publishes the capability description and starts the status heartbeat.
CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
	Stops the status heartbeat.
CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override
	Releases the resources acquired in on_configure().
CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &previous_state) override
	Stops the status heartbeat if still running.

Detailed Description

template<typename ActionServerT>
class easyfleet_core::Capability< ActionServerT >

Lifecycle node that advertises a single action as a "capability".

Capability<ActionServerT> is a rclcpp_lifecycle::LifecycleNode that:

owns an instance of ActionServerT (a concrete subclass of ActionServerBase<ActionType>, constructed as ActionServerT(rclcpp_lifecycle::LifecycleNode &, const std::string &)), exposed through its ActionServerBase<ActionType>::SharedPtr base type;
on on_activate, reads the file named by the capabilities_file string parameter and publishes it, together with its own runtime identity (namespace and fully-qualified action name), as an easyfleet_interfaces/CapabilityDescription on the reliable, transient-local /capabilities topic, so late subscribers still get it;
while active, publishes an easyfleet_interfaces/CapabilityStatus heartbeat once a second on /capabilities_status.

ActionServerT must publicly inherit ActionServerBase<SomeActionType> and be constructible as ActionServerT(LifecycleNode &, const std::string &).

The robot/capability/action_name identity published on both topics is resolved from this node's actual namespace at construction time, so a capability launched under namespace robot1 announces itself as such without any code changes – this is what lets a control center tell apart, say, robot1's and robot2's navigation capabilities.

Also implements CapabilityNodeBase, so a Robot/Deployment that doesn't know (and doesn't need to know) ActionServerT can still drive this instance's lifecycle and add its node to an executor – see capability_node_base.hpp and capability_factory.hpp.

Constructor & Destructor Documentation

◆ Capability()

template<typename ActionServerT>

Capability	(	const std::string &	capability_name,
		const rclcpp::NodeOptions &	options = rclcpp::NodeOptions() )

explicit

Constructs the capability node.

Parameters

capability_name	Used as the node name, the action name of the contained action server, and the capability identity field.
options	Forwarded to the underlying LifecycleNode.

Member Function Documentation

◆ activate_node()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn activate_node ( )

overridevirtual

Drive the underlying lifecycle node from INACTIVE to ACTIVE.

Returns: The resulting lifecycle transition outcome.

Implements CapabilityNodeBase.

◆ cleanup_node()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn cleanup_node ( )

overridevirtual

Drive the underlying lifecycle node from INACTIVE to UNCONFIGURED.

Returns: The resulting lifecycle transition outcome.

Implements CapabilityNodeBase.

◆ configure_node()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn configure_node ( )

overridevirtual

Drive the underlying lifecycle node from UNCONFIGURED to INACTIVE.

Returns: The resulting lifecycle transition outcome.

Implements CapabilityNodeBase.

◆ deactivate_node()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn deactivate_node ( )

overridevirtual

Drive the underlying lifecycle node from ACTIVE to INACTIVE.

Returns: The resulting lifecycle transition outcome.

Implements CapabilityNodeBase.

◆ get_action_server()

template<typename ActionServerT>

Capability< ActionServerT >::ActionServerBaseT::SharedPtr get_action_server ( ) const

noexcept

The action server backing this capability.

Returns: The contained ActionServerT, through its ActionServerBaseT::SharedPtr base type.

◆ get_capability_name()

template<typename ActionServerT>

const std::string & get_capability_name ( ) const

overridevirtualnoexcept

The capability identity field published on /capabilities and /capabilities_status.

Returns: The capability identity field published on /capabilities and /capabilities_status.

Implements CapabilityNodeBase.

◆ get_current_state_id()

template<typename ActionServerT>

uint8_t get_current_state_id ( ) const

overridevirtual

The underlying lifecycle node's current state id.

Returns: The underlying lifecycle node's current state id (one of the lifecycle_msgs::msg::State::PRIMARY_STATE_* constants).

Implements CapabilityNodeBase.

◆ get_node_base_interface()

template<typename ActionServerT>

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface ( )

overridevirtual

So a Deployment can add the underlying node to its shared executor without knowing its concrete type.

Returns: The underlying node's base interface.

Implements CapabilityNodeBase.

◆ get_resolved_action_name()

template<typename ActionServerT>

const std::string & get_resolved_action_name ( ) const

noexcept

Fully-qualified name of the action this capability exposes, e.g.

"/robot1/navigation". This is the action_name identity field published on /capabilities and /capabilities_status.

Returns: The resolved, fully-qualified action name.

◆ get_robot_name()

template<typename ActionServerT>

const std::string & get_robot_name ( ) const

overridevirtualnoexcept

This node's namespace, without the leading '/' (empty if none), e.g.

"robot1". This is the robot identity field published on /capabilities and /capabilities_status.

Returns: This node's resolved robot name.

Implements CapabilityNodeBase.

◆ on_activate()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn on_activate ( const rclcpp_lifecycle::State & previous_state )

overrideprotected

Publishes the capability description and starts the status heartbeat.

Parameters

previous_state State this node is transitioning from.

Returns: CallbackReturn::SUCCESS on success, CallbackReturn::FAILURE otherwise.

◆ on_cleanup()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn on_cleanup ( const rclcpp_lifecycle::State & previous_state )

overrideprotected

Releases the resources acquired in on_configure().

Parameters

previous_state State this node is transitioning from.

Returns: CallbackReturn::SUCCESS on success, CallbackReturn::FAILURE otherwise.

◆ on_configure()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn on_configure ( const rclcpp_lifecycle::State & previous_state )

overrideprotected

Reads capabilities_file and configures the contained ActionServerT.

Parameters

previous_state State this node is transitioning from.

Returns: CallbackReturn::SUCCESS on success, CallbackReturn::FAILURE otherwise.

◆ on_deactivate()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn on_deactivate ( const rclcpp_lifecycle::State & previous_state )

overrideprotected

Stops the status heartbeat.

Parameters

previous_state State this node is transitioning from.

Returns: CallbackReturn::SUCCESS on success, CallbackReturn::FAILURE otherwise.

◆ on_shutdown()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn on_shutdown ( const rclcpp_lifecycle::State & previous_state )

overrideprotected

Stops the status heartbeat if still running.

Parameters

previous_state State this node is transitioning from.

Returns: CallbackReturn::SUCCESS on success, CallbackReturn::FAILURE otherwise.

◆ shutdown_node()

template<typename ActionServerT>

Capability< ActionServerT >::CallbackReturn shutdown_node ( )

overridevirtual

Drive the underlying lifecycle node to FINALIZED, from whatever state it is currently in.

Returns: The resulting lifecycle transition outcome.

Implements CapabilityNodeBase.

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

easyfleet_core/include/easyfleet_core/capability.hpp
easyfleet_core/include/easyfleet_core/detail/capability_impl.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Capability()

Member Function Documentation

◆ activate_node()

◆ cleanup_node()

◆ configure_node()

◆ deactivate_node()

◆ get_action_server()

◆ get_capability_name()

◆ get_current_state_id()

◆ get_node_base_interface()

◆ get_resolved_action_name()

◆ get_robot_name()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ shutdown_node()