PerceptionFakeActionServer Class Reference

Fake/mock implementation of the easyfleet_interfaces/Perception action. More...

#include <perception_fake_capability.hpp>

Inheritance diagram for PerceptionFakeActionServer:

Public Member Functions
	PerceptionFakeActionServer (rclcpp_lifecycle::LifecycleNode &node, const std::string &action_name)
	Constructs the action server.
Public Member Functions inherited from ActionServerBase< easyfleet_interfaces::action::Perception >
	ActionServerBase (const ActionServerBase &)=delete
ActionServerBase &	operator= (const ActionServerBase &)=delete
const std::string &	get_action_name () const noexcept
	Fully-qualified name of the action served by this instance.
bool	is_active () const
	Whether a goal is currently executing.
bool	is_preemptable () const noexcept
	Current value of the "allow_preemption" parameter for this action.

Protected Member Functions
rclcpp_action::GoalResponse	on_goal_received (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const Goal > goal) override
	Accepts only goals asking for the configured target_class_.
void	on_execute (const GoalHandleSharedPtr goal_handle) override
	Streams random detections at detection_rate_hz_ until canceled, preempted or shut down.
Protected Member Functions inherited from ActionServerBase< easyfleet_interfaces::action::Perception >
virtual rclcpp_action::GoalResponse	on_goal_received (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const Goal > goal)=0
	Validate an incoming goal.
virtual rclcpp_action::CancelResponse	on_cancel_requested (const GoalHandleSharedPtr goal_handle)
	Decide whether a cancel request (via the action's cancel service) should be accepted.
virtual void	on_preempted (const GoalHandleSharedPtr &preempted_goal_handle)
	Optional hook invoked (from the accepting thread, not the worker thread) when a new goal is about to preempt the currently running one.
bool	is_preempt_requested () const noexcept
	Whether a newer goal has been accepted and is waiting to replace the one currently executing.
bool	is_shutdown_requested () const noexcept
	Whether this object is being destroyed.
rclcpp::Logger	logger () const
	Logger of the node hosting this action server.

Additional Inherited Members
Public Types inherited from ActionServerBase< easyfleet_interfaces::action::Perception >
using	ActionType
	The wrapped rclcpp_action action type.
using	Goal
	Goal type of the wrapped action.
using	Feedback
	Feedback type of the wrapped action.
using	Result
	Result type of the wrapped action.
using	GoalHandle
	rclcpp_action server-side goal handle type of the wrapped action.
using	GoalHandleSharedPtr
	Shared pointer to a GoalHandle.
using	SharedPtr
	Shared pointer to an ActionServerBase<ActionT>.

Detailed Description

Fake/mock implementation of the easyfleet_interfaces/Perception action.

A reference implementation of easyfleet_core::PerceptionActionServerBase: it does not run a real object detector. When asked for the configured target class (a cat, "gato", by default) it publishes feedback at a configurable rate (20 Hz by default) with 1 to 3 randomly placed detections, in both 2D and 3D, until the goal is canceled, preempted or the node shuts down – there is no other terminal condition, mirroring how a continuous perception stream behaves. Goals asking for any other class are rejected. continuous/max_rate_hz are accepted but not honored by this mock: every goal streams forever at the fixed detection_rate_hz parameter, since a mock has no notion of "detect once and stop".

Duplicated (not shared) from easyfleet_fake_collaboration_deployment's own copy of this same reference implementation, matching this project's established convention of keeping each deployment package self-contained rather than introducing a cross-deployment dependency for a mock.

Constructor & Destructor Documentation

PerceptionFakeActionServer()

PerceptionFakeActionServer	(	rclcpp_lifecycle::LifecycleNode &	node,
		const std::string &	action_name )

Constructs the action server.

Parameters

node	Lifecycle node that will host this action server.
action_name	Name under which the action is advertised.

Member Function Documentation

on_execute()

void on_execute ( const GoalHandleSharedPtr goal_handle )

overrideprotectedvirtual

Streams random detections at detection_rate_hz_ until canceled, preempted or shut down.

Parameters

goal_handle

Handle of the accepted goal to run to completion.

Implements ActionServerBase< easyfleet_interfaces::action::Perception >.

on_goal_received()

rclcpp_action::GoalResponse on_goal_received ( const rclcpp_action::GoalUUID & uuid, std::shared_ptr< const Goal > goal )

overrideprotected

Accepts only goals asking for the configured target_class_.

Parameters

uuid	Id of the incoming goal.
goal	Goal content to validate.

Returns

ACCEPT_AND_EXECUTE if goal->target_class matches target_class_, REJECT otherwise.

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

• easyfleet_example_deployments/easyfleet_easynav_collaboration_deployment/include/easyfleet_easynav_collaboration_deployment/perception_fake_capability.hpp
• easyfleet_example_deployments/easyfleet_easynav_collaboration_deployment/src/easyfleet_easynav_collaboration_deployment/perception_fake_capability.cpp