arbitrator::CapabilitiesInterface Class Reference

Generic interface for interacting with Plugins via their capabilities instead of directly by their topics. More...

#include <capabilities_interface.hpp>

Collaboration diagram for arbitrator::CapabilitiesInterface:

Public Member Functions
	CapabilitiesInterface (std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode > nh)
	Constructor for Capabilities interface. More...
std::vector< std::string >	get_topics_for_capability (const std::string &query_string)
	Initialize the Capabilities interface by querying the Health Monitor node and processing the plugins that are returned. More...
template<typename MSrvReq , typename MSrvRes >
std::map< std::string, std::shared_ptr< MSrvRes > >	multiplex_service_call_for_capability (const std::string &query_string, std::shared_ptr< MSrvReq > msg)
	Template function for calling all nodes which respond to a service associated with a particular capability. Will send the service request to all nodes and aggregate the responses. More...

Static Public Attributes
static const std::string	STRATEGIC_PLAN_CAPABILITY = "strategic_plan/plan_maneuvers"

Private Attributes
std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode >	nh_
std::unordered_map< std::string, carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::PlanManeuvers > >	registered_strategic_plugins_
carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::GetPluginApi >	sc_s_
std::unordered_set< std::string >	capabilities_

Detailed Description

Generic interface for interacting with Plugins via their capabilities instead of directly by their topics.

Definition at line 38 of file capabilities_interface.hpp.

Constructor & Destructor Documentation

CapabilitiesInterface()

arbitrator::CapabilitiesInterface::CapabilitiesInterface ( std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode >  nh )

inline

Constructor for Capabilities interface.

Parameters

nh	A CarmaLifecycleNode pointer this interface will work with

Definition at line 45 of file capabilities_interface.hpp.

                                                                                       : nh_(nh) {
                sc_s_ = nh_->create_client<carma_planning_msgs::srv::GetPluginApi>("plugins/get_strategic_plugins_by_capability");
            };

References nh_, and sc_s_.

Member Function Documentation

get_topics_for_capability()

std::vector< std::string > arbitrator::CapabilitiesInterface::get_topics_for_capability

(

const std::string &

query_string

)

Initialize the Capabilities interface by querying the Health Monitor node and processing the plugins that are returned.

Get the list of topics that respond to the capability specified by the query string

Parameters

query_string

The string name of the capability to look for

Returns

A list of all responding topics, if any are found.

Definition at line 26 of file capabilities_interface.cpp.

    {
        std::vector<std::string> topics = {};
        
        auto srv = std::make_shared<carma_planning_msgs::srv::GetPluginApi::Request>();
        srv->capability = "";
        
        auto plan_response = sc_s_->async_send_request(srv);
 
        auto future_status = plan_response.wait_for(std::chrono::milliseconds(200));
 
        if (query_string == STRATEGIC_PLAN_CAPABILITY && future_status == std::future_status::ready)
        {
            topics = plan_response.get()->plan_service;
            
            // Log the topics
            std::ostringstream stream;
            stream << "Received Topics: ";
            for (const auto& topic : topics) {
                stream << topic << ", ";
            }
            stream << std::endl;
            RCLCPP_INFO_STREAM(nh_->get_logger(), stream.str().c_str());
        }
        else
        {
            RCLCPP_ERROR_STREAM(nh_->get_logger(), "service call failed...");
            RCLCPP_ERROR_STREAM(nh_->get_logger(), "client: " << sc_s_);
        }
 
        return topics;
 
    }

References nh_, sc_s_, STRATEGIC_PLAN_CAPABILITY, and process_bag::topics.

multiplex_service_call_for_capability()

template<typename MSrvReq , typename MSrvRes >

std::map< std::string, std::shared_ptr< MSrvRes > > arbitrator::CapabilitiesInterface::multiplex_service_call_for_capability	(	const std::string &	query_string,
		std::shared_ptr< MSrvReq >	msg
	)

Template function for calling all nodes which respond to a service associated with a particular capability. Will send the service request to all nodes and aggregate the responses.

Template Parameters

MSrvReq	The typename of the service message request
MSrvRes	The typename of the service message response

Parameters

query_string	The string name of the capability to look for
The	message itself to send

Returns

A map matching the topic name that responded -> the response

Member Data Documentation

capabilities_

std::unordered_set<std::string> arbitrator::CapabilitiesInterface::capabilities_

private

Definition at line 88 of file capabilities_interface.hpp.

nh_

std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> arbitrator::CapabilitiesInterface::nh_

private

Definition at line 84 of file capabilities_interface.hpp.

Referenced by CapabilitiesInterface(), and get_topics_for_capability().

registered_strategic_plugins_

std::unordered_map<std::string,carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::PlanManeuvers> > arbitrator::CapabilitiesInterface::registered_strategic_plugins_

private

Definition at line 85 of file capabilities_interface.hpp.

sc_s_

carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::GetPluginApi> arbitrator::CapabilitiesInterface::sc_s_

private

Definition at line 87 of file capabilities_interface.hpp.

Referenced by CapabilitiesInterface(), and get_topics_for_capability().

STRATEGIC_PLAN_CAPABILITY

const std::string arbitrator::CapabilitiesInterface::STRATEGIC_PLAN_CAPABILITY = "strategic_plan/plan_maneuvers"

static

Definition at line 81 of file capabilities_interface.hpp.

Referenced by get_topics_for_capability().

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

• arbitrator/include/capabilities_interface.hpp
• arbitrator/src/capabilities_interface.cpp