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+ - '**/*.dox' + - '**/*.h' + - '**/*.hh' + - '**/*.hpp' + - '**/*.hxx' + - '**/*.c' + - '**/*.cc' + - '**/*.cpp' + - '**/*.cxx' + - '**/*.py' + - .github/workflows/doxygen-pages.yml + workflow_dispatch: + +permissions: + contents: read + pages: write + id-token: write + +concurrency: + group: pages + cancel-in-progress: true + +jobs: + build-docs: + runs-on: ubuntu-latest + + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Install Doxygen + run: sudo apt-get update && sudo apt-get install -y doxygen + + - name: Build HTML documentation + run: | + doxygen Doxygen + touch docs/html/.nojekyll + + - name: Upload Pages artifact + if: github.event_name != 'pull_request' + uses: actions/upload-pages-artifact@v3 + with: + path: docs/html + + deploy-pages: + if: github.event_name != 'pull_request' && github.ref_name == github.event.repository.default_branch + needs: build-docs + runs-on: ubuntu-latest + environment: + name: github-pages + url: ${{ steps.deployment.outputs.page_url }} + + steps: + - name: Deploy to GitHub Pages + id: deployment + uses: actions/deploy-pages@v4 \ No newline at end of file diff --git a/Doxygen b/Doxygen new file mode 100644 index 0000000..d9359e5 --- /dev/null +++ b/Doxygen @@ -0,0 +1,22 @@ +PROJECT_NAME = "Fabric" +OUTPUT_DIRECTORY = docs +FULL_PATH_NAMES = YES +STRIP_FROM_PATH = . +MARKDOWN_SUPPORT = YES +AUTOLINK_SUPPORT = YES +USE_MDFILE_AS_MAINPAGE = README.md +INPUT = . +FILE_PATTERNS = *.c *.cc *.cpp *.cxx *.h *.hh *.hpp *.hxx *.md *.markdown *.dox *.py +RECURSIVE = YES +EXCLUDE = ./build ./install ./log ./docs/html +EXTRACT_ALL = YES +EXTRACT_PRIVATE = YES +EXTRACT_STATIC = YES +WARN_IF_UNDOCUMENTED = YES +SOURCE_BROWSER = NO +IMAGE_PATH = docs/images +GENERATE_HTML = YES +HTML_OUTPUT = html +GENERATE_TREEVIEW = NO +SEARCHENGINE = YES +GENERATE_LATEX = NO \ No newline at end of file diff --git a/readme.md b/README.md similarity index 100% rename from readme.md rename to README.md diff --git a/docs/html/README_8md.html b/docs/html/README_8md.html new file mode 100644 index 0000000..bd26d2e --- /dev/null +++ b/docs/html/README_8md.html @@ -0,0 +1,81 @@ + + + + + + + +Fabric: README.md File Reference + + + + + + + + + +
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Fabric +
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README.md File Reference
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+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/TODO_8md.html b/docs/html/TODO_8md.html new file mode 100644 index 0000000..d7dae1b --- /dev/null +++ b/docs/html/TODO_8md.html @@ -0,0 +1,81 @@ + + + + + + + +Fabric: TODO.md File Reference + + + + + + + + + +
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+ + diff --git a/docs/html/annotated.html b/docs/html/annotated.html new file mode 100644 index 0000000..3fe4b36 --- /dev/null +++ b/docs/html/annotated.html @@ -0,0 +1,98 @@ + + + + + + + +Fabric: Class List + + + + + + + + + +
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Fabric +
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Class List
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Here are the classes, structs, unions and interfaces with brief descriptions:
+
[detail level 12]
+ + + + + + + + + + + + + +
 ▼Nfabric
 CCapabilityClientClass for capability client interactions
 CCapabilityInfo
 CCompatibilityValidationSyntax validation plugin for XML plans
 CconnectionStructure representing connections between nodes
 CFabricClass representing the main server of the fabric
 Cfabric_exceptionBase class for driver exceptions
 CnodeStructure representing a node in the fabric
 CParserBaseAbstract base class for XML plan parsing plugins
 CPlan
 CValidationBaseAbstract base class for XML plan validation plugins
 CXMLParserSyntax validation plugin for XML plans
 CBondClient
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/api_8md.html b/docs/html/api_8md.html new file mode 100644 index 0000000..ba60f6b --- /dev/null +++ b/docs/html/api_8md.html @@ -0,0 +1,81 @@ + + + + + + + +Fabric: docs/api.md File Reference + + + + + + + + + +
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bond_client.hpp File Reference
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#include <string>
+#include <bondcpp/bond.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+Include dependency graph for bond_client.hpp:
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+Classes

class  BondClient
 
+
+ +
+Generated by doxygen 1.9.8 +
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zuV#_X_2*xB%j4`G%;uNx?1E7UY<>q25Z?KLeV|cKHCSuZjR*(`u;}u=b3181ZOUh@ z0z8Uk>BM@`Gn0a8Tzymut^9+=aBaCTr-l zyJ)SDso5gpgl<31romoUAu>O_K~`ta$>x$WGC!Xl_Hjm9 z4ge4a!7a>Gx-Y${pWj-8!$%I6+dxjTfl_b|c2X{eLYp7-a0mjE&PphAroJ7lic4!$ zJ&(2QebOEuA0MJM0{yk!uJ7zO&BY%NEY@{H$k0$zVA*Jg8a}b2sGKwP&@tb=&|r)C z_q_tqnwA?M1X|;iL!kJeUkyt7|NGWdy+k0qyp1n6CuH?rVSSD~KR@R^VbklY{q9?m zXbxE9OFm3md?apdx*QnrM2dKg=k5MFx4s@z>&$x_yq5ws9rK`61seJP`sk~@_w(u+ W+pm&WHV4HYNm^W9tWxw-;Qs*AGTlA^ literal 0 HcmV?d00001 diff --git a/docs/html/bond__client_8hpp_source.html b/docs/html/bond__client_8hpp_source.html new file mode 100644 index 0000000..b19a53b --- /dev/null +++ b/docs/html/bond__client_8hpp_source.html @@ -0,0 +1,189 @@ + + + + + + + +Fabric: fabric_server/include/fabric_server/bond_client.hpp Source File + + + + + + + + + +
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bond_client.hpp
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+
+Go to the documentation of this file.
1#pragma once
+
2#include <string>
+
3#include <bondcpp/bond.hpp>
+
4#include <rclcpp/rclcpp.hpp>
+
5
+
+
6class BondClient
+
7{
+
8public:
+
+
15 BondClient(rclcpp::Node::SharedPtr node, const std::string &bond_id)
+
16 {
+
17 bond_id_ = bond_id;
+
18 node_ = node;
+
19
+
20 //get the bond topic from parameter server
+
21 std::string bond_topic_param = "capability_client.bond_topic";
+
22 std::string bond_topic_value = "/capabilities/bond";
+
23
+
24 if (!node_->has_parameter(bond_topic_param))
+
25 node_->declare_parameter<std::string>(bond_topic_param, bond_topic_value);
+
26
+
27 if (!node_->get_parameter(bond_topic_param, topic_) || topic_.empty())
+
28 topic_ = bond_topic_value;
+
29 }
+
+
30
+
+
35 void start()
+
36 {
+
37 RCLCPP_INFO(node_->get_logger(), "Creating bond to capabilities server with id: %s", bond_id_.c_str());
+
38
+
39 bond_ = std::make_unique<bond::Bond>(topic_, bond_id_, node_, std::bind(&BondClient::on_broken, this), std::bind(&BondClient::on_formed, this));
+
40
+
41 bond_->setHeartbeatPeriod(0.10);
+
42 bond_->setHeartbeatTimeout(10.0);
+
43 bond_->start();
+
44
+
45 RCLCPP_INFO(node_->get_logger(), "Bond started with capabilities server with id: %s", bond_id_.c_str());
+
46 }
+
+
47
+
+
52 void stop()
+
53 {
+
54 RCLCPP_INFO(node_->get_logger(), "Destroying bond to capabilities server with id: %s", bond_id_.c_str());
+
55
+
56 if (bond_)
+
57 {
+
58 bond_.reset();
+
59 RCLCPP_INFO(node_->get_logger(), "Bond stopped with capabilities server with id: %s", bond_id_.c_str());
+
60 }
+
61 }
+
+
62
+
+
63 ~BondClient()
+
64 {
+
65 stop();
+
66 }
+
+
67
+
68private:
+
+
73 void on_formed()
+
74 {
+
75 // log bond established event
+
76 RCLCPP_INFO(node_->get_logger(), "Bond with capabilities server formed with id: %s", bond_id_.c_str());
+
77 }
+
+
78
+
+
83 void on_broken()
+
84 {
+
85 // log bond established event
+
86 RCLCPP_INFO(node_->get_logger(), "Bond with capabilities server broken with id: %s", bond_id_.c_str());
+
87 }
+
+
88
+
90 rclcpp::Node::SharedPtr node_;
+
91
+
93 std::string bond_id_;
+
94
+
96 std::string topic_;
+
97
+
99 std::shared_ptr<bond::Bond> bond_;
+
100};
+
+
BondClient
Definition bond_client.hpp:7
+
BondClient::on_formed
void on_formed()
callback function for bond formed event
Definition bond_client.hpp:73
+
BondClient::bond_
std::shared_ptr< bond::Bond > bond_
Definition bond_client.hpp:99
+
BondClient::start
void start()
start the bond
Definition bond_client.hpp:35
+
BondClient::on_broken
void on_broken()
callback function for bond broken event
Definition bond_client.hpp:83
+
BondClient::topic_
std::string topic_
Definition bond_client.hpp:96
+
BondClient::BondClient
BondClient(rclcpp::Node::SharedPtr node, const std::string &bond_id)
Construct a new Bond Client object.
Definition bond_client.hpp:15
+
BondClient::~BondClient
~BondClient()
Definition bond_client.hpp:63
+
BondClient::bond_id_
std::string bond_id_
Definition bond_client.hpp:93
+
BondClient::node_
rclcpp::Node::SharedPtr node_
Definition bond_client.hpp:90
+
BondClient::stop
void stop()
stop the bond
Definition bond_client.hpp:52
+
+ +
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+ + diff --git a/docs/html/bond__client_8md.html b/docs/html/bond__client_8md.html new file mode 100644 index 0000000..21bcefa --- /dev/null +++ b/docs/html/bond__client_8md.html @@ -0,0 +1,81 @@ + + + + + + + +Fabric: docs/bond_client.md File Reference + + + + + + + + + +
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+ + diff --git a/docs/html/capability__client_8hpp.html b/docs/html/capability__client_8hpp.html new file mode 100644 index 0000000..0829f2f --- /dev/null +++ b/docs/html/capability__client_8hpp.html @@ -0,0 +1,195 @@ + + + + + + + +Fabric: fabric_server/include/fabric_server/capability_client.hpp File Reference + + + + + + + + + +
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capability_client.hpp File Reference
+
+
+
#include <chrono>
+#include <mutex>
+#include <condition_variable>
+#include <bondcpp/bond.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <fabric_base/utils/structs.hpp>
+#include <fabric_base/utils/exception.hpp>
+#include <fabric_base/utils/xml_helper.hpp>
+#include <capabilities2_msgs/srv/establish_bond.hpp>
+#include <capabilities2_msgs/srv/get_interfaces.hpp>
+#include <capabilities2_msgs/srv/get_semantic_interfaces.hpp>
+#include <capabilities2_msgs/srv/get_providers.hpp>
+#include <capabilities2_msgs/srv/use_capability.hpp>
+#include <capabilities2_msgs/srv/free_capability.hpp>
+#include <capabilities2_msgs/srv/connect_capability.hpp>
+#include <capabilities2_msgs/srv/trigger_capability.hpp>
+#include <capabilities2_msgs/msg/capability_event_code.hpp>
+
+Include dependency graph for capability_client.hpp:
+
+
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+This graph shows which files directly or indirectly include this file:
+
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+ + + + + + + + + +
+
+

Go to the source code of this file.

+ + + + + +

+Classes

class  fabric::CapabilityClient
 Class for capability client interactions. More...
 
+ + + +

+Namespaces

namespace  fabric
 
+
+ +
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100644 index 0000000..f258f2f --- /dev/null +++ b/docs/html/capability__client_8hpp_source.html @@ -0,0 +1,739 @@ + + + + + + + +Fabric: fabric_server/include/fabric_server/capability_client.hpp Source File + + + + + + + + + +

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capability_client.hpp
+
+
+Go to the documentation of this file.
1#pragma once
+
2
+
3#include <chrono>
+
4#include <mutex>
+
5#include <condition_variable>
+
6
+
7#include <bondcpp/bond.hpp>
+
8#include <rclcpp/rclcpp.hpp>
+
9
+
10#include <fabric_base/utils/structs.hpp>
+
11#include <fabric_base/utils/exception.hpp>
+
12#include <fabric_base/utils/xml_helper.hpp>
+
13
+
14#include <capabilities2_msgs/srv/establish_bond.hpp>
+
15#include <capabilities2_msgs/srv/get_interfaces.hpp>
+
16#include <capabilities2_msgs/srv/get_semantic_interfaces.hpp>
+
17#include <capabilities2_msgs/srv/get_providers.hpp>
+
18#include <capabilities2_msgs/srv/use_capability.hpp>
+
19#include <capabilities2_msgs/srv/free_capability.hpp>
+
20#include <capabilities2_msgs/srv/connect_capability.hpp>
+
21#include <capabilities2_msgs/srv/trigger_capability.hpp>
+
22
+
23#include <capabilities2_msgs/msg/capability_event_code.hpp>
+
24
+
25namespace fabric
+
26{
+
27
+
+
32class CapabilityClient
+
33{
+
34public:
+
35 using GetInterfaces = capabilities2_msgs::srv::GetInterfaces;
+
36 using GetSemanticInterfaces = capabilities2_msgs::srv::GetSemanticInterfaces;
+
37 using GetProviders = capabilities2_msgs::srv::GetProviders;
+
38 using EstablishBond = capabilities2_msgs::srv::EstablishBond;
+
39 using UseCapability = capabilities2_msgs::srv::UseCapability;
+
40 using FreeCapability = capabilities2_msgs::srv::FreeCapability;
+
41 using ConnectCapability = capabilities2_msgs::srv::ConnectCapability;
+
42 using TriggerCapability = capabilities2_msgs::srv::TriggerCapability;
+
43
+
44 using CapabilityEventCode = capabilities2_msgs::msg::CapabilityEventCode;
+
45
+
46 using GetInterfacesClient = rclcpp::Client<GetInterfaces>;
+
47 using GetSemanticInterfacesClient = rclcpp::Client<GetSemanticInterfaces>;
+
48 using GetProvidersClient = rclcpp::Client<GetProviders>;
+
49 using EstablishBondClient = rclcpp::Client<EstablishBond>;
+
50 using UseCapabilityClient = rclcpp::Client<UseCapability>;
+
51 using FreeCapabilityClient = rclcpp::Client<FreeCapability>;
+
52 using ConnectCapabilityClient = rclcpp::Client<ConnectCapability>;
+
53 using TriggerCapabilityClient = rclcpp::Client<TriggerCapability>;
+
54
+
+
55 CapabilityClient() {
+
56
+
57 };
+
+
58
+
59 virtual ~CapabilityClient() = default;
+
60
+
+
66 virtual void initialize(const rclcpp::Node::SharedPtr& node)
+
67 {
+
68 node_ = node;
+
69
+
70 if (!node_->has_parameter("capability_client.service_wait_timeout_sec"))
+
71 node_->declare_parameter<int>("capability_client.service_wait_timeout_sec", -1);
+
72 service_wait_timeout_sec_ = node_->get_parameter("capability_client.service_wait_timeout_sec").as_int();
+
73
+
74 node_->declare_parameter<std::string>("capability_client.services.get_interfaces", "/capabilities/get_interfaces");
+
75 node_->declare_parameter<std::string>("capability_client.services.get_semantic_interfaces", "/capabilities/get_semantic_interfaces");
+
76 node_->declare_parameter<std::string>("capability_client.services.get_providers", "/capabilities/get_providers");
+
77 node_->declare_parameter<std::string>("capability_client.services.establish_bond", "/capabilities/establish_bond");
+
78 node_->declare_parameter<std::string>("capability_client.services.use_capability", "/capabilities/use_capability");
+
79 node_->declare_parameter<std::string>("capability_client.services.free_capability", "/capabilities/free_capability");
+
80 node_->declare_parameter<std::string>("capability_client.services.trigger_capability", "/capabilities/trigger_capability");
+
81 node_->declare_parameter<std::string>("capability_client.services.connect_capability", "/capabilities/connect_capability");
+
82
+
83 node_->get_parameter("capability_client.services.get_interfaces", get_interfaces_);
+
84 node_->get_parameter("capability_client.services.get_semantic_interfaces", get_semantic_interfaces_);
+
85 node_->get_parameter("capability_client.services.get_providers", get_providers_);
+
86 node_->get_parameter("capability_client.services.establish_bond", establish_bond_);
+
87 node_->get_parameter("capability_client.services.use_capability", use_capability_);
+
88 node_->get_parameter("capability_client.services.free_capability", free_capability_);
+
89 node_->get_parameter("capability_client.services.trigger_capability", trigger_capability_);
+
90 node_->get_parameter("capability_client.services.connect_capability", connect_capability_);
+
91
+
92 get_interfaces_client_ = node_->create_client<GetInterfaces>(get_interfaces_);
+
93 get_sem_interf_client_ = node_->create_client<GetSemanticInterfaces>(get_semantic_interfaces_);
+
94 get_providers_client_ = node_->create_client<GetProviders>(get_providers_);
+
95 establish_bond_client_ = node_->create_client<EstablishBond>(establish_bond_);
+
96 use_capability_client_ = node_->create_client<UseCapability>(use_capability_);
+
97 free_capability_client_ = node_->create_client<FreeCapability>(free_capability_);
+
98 trig_capability_client_ = node_->create_client<TriggerCapability>(trigger_capability_);
+
99 connect_capability_client_ = node_->create_client<ConnectCapability>(connect_capability_);
+
100
+
101 // Wait for services to become available
+
102 wait_for_service(get_interfaces_client_, get_interfaces_);
+
103 wait_for_service(get_sem_interf_client_, get_semantic_interfaces_);
+
104 wait_for_service(get_providers_client_, get_providers_);
+
105 wait_for_service(establish_bond_client_, establish_bond_);
+
106 wait_for_service(use_capability_client_, use_capability_);
+
107 wait_for_service(free_capability_client_, free_capability_);
+
108 wait_for_service(trig_capability_client_, trigger_capability_);
+
109 wait_for_service(connect_capability_client_, connect_capability_);
+
110
+
111 RCLCPP_INFO(node_->get_logger(), "[Capability client] initialized.");
+
112 }
+
+
113
+
+
121 void getInterfaces(std::vector<CapabilityInfo>& capabilities)
+
122 {
+
123 RCLCPP_INFO(node_->get_logger(), "[Capability client] requesting Interface information");
+
124
+
125 auto request_interface = std::make_shared<GetInterfaces::Request>();
+
126
+
127 bool completed = false;
+
128 std::mutex mtx;
+
129 std::condition_variable cv;
+
130 std::unique_lock<std::mutex> lock(mtx);
+
131
+
132 // request data from the server
+
133 auto result_interface_future = get_interfaces_client_->async_send_request(
+
134 request_interface, [this, &completed, &cv, &capabilities](GetInterfacesClient::SharedFuture future) {
+
135 if (!future.valid())
+
136 {
+
137 throw fabric::fabric_exception("Failed to get Interface information from "
+
138 "server");
+
139 }
+
140
+
141 auto response = future.get();
+
142
+
143 for (const auto& interface : response->interfaces)
+
144 {
+
145 CapabilityInfo info;
+
146 info.interface = interface;
+
147 info.is_semantic = false;
+
148
+
149 capabilities.push_back(info);
+
150 }
+
151
+
152 completed = true;
+
153 cv.notify_all();
+
154 });
+
155
+
156 // wait for the response
+
157 cv.wait(lock, [&completed]() { return completed; });
+
158
+
159 RCLCPP_INFO(node_->get_logger(), "[Capability client] received %d interfaces from server\n", static_cast<int>(capabilities.size()));
+
160 }
+
+
161
+
+
168 void getSemanticInterfaces(std::vector<CapabilityInfo>& capabilities)
+
169 {
+
170 int interface_count = capabilities.size();
+
171
+
172 std::vector<CapabilityInfo> new_capabilities;
+
173
+
174 for (auto& capability : capabilities)
+
175 {
+
176 RCLCPP_INFO(node_->get_logger(), "[Capability client] checking %s for semantic interfaces", capability.interface.c_str());
+
177
+
178 auto request_semantic = std::make_shared<GetSemanticInterfaces::Request>();
+
179 request_semantic->interface = capability.interface;
+
180
+
181 bool completed = false;
+
182 std::mutex mtx;
+
183 std::condition_variable cv;
+
184 std::unique_lock<std::mutex> lock(mtx);
+
185
+
186 // request semantic interface from the server
+
187 auto result_semantic_future = get_sem_interf_client_->async_send_request(
+
188 request_semantic, [this, &new_capabilities, &completed, &cv](GetSemanticInterfacesClient::SharedFuture future) {
+
189 if (!future.valid())
+
190 {
+
191 throw fabric::fabric_exception("Failed to get Semantic Interface information from server");
+
192 }
+
193
+
194 auto response = future.get();
+
195
+
196 // add semantic interfaces to the capability info
+
197 for (const auto& interface : response->semantic_interfaces)
+
198 {
+
199 CapabilityInfo info;
+
200 info.interface = interface;
+
201 info.is_semantic = true;
+
202
+
203 new_capabilities.push_back(info);
+
204 RCLCPP_INFO(node_->get_logger(), "[Capability client] Semantic interface: %s added\n", interface.c_str());
+
205 }
+
206
+
207 completed = true;
+
208 cv.notify_all();
+
209 });
+
210
+
211 // wait for the response
+
212 cv.wait(lock, [&completed]() { return completed; });
+
213 }
+
214
+
215 // append the new semantic interfaces to the original capabilities list
+
216 capabilities.insert(capabilities.end(), new_capabilities.begin(), new_capabilities.end());
+
217 }
+
+
218
+
+
226 void getProviders(std::vector<CapabilityInfo>& capabilities)
+
227 {
+
228 for (auto& capability : capabilities)
+
229 {
+
230 RCLCPP_INFO(node_->get_logger(), "[Capability client] requesting provider for %s", capability.interface.c_str());
+
231
+
232 auto request_providers = std::make_shared<GetProviders::Request>();
+
233
+
234 // request providers of the semantic interface
+
235 request_providers->interface = capability.interface;
+
236 request_providers->include_semantic = capability.is_semantic;
+
237
+
238 bool completed = false;
+
239 std::mutex mtx;
+
240 std::condition_variable cv;
+
241 std::unique_lock<std::mutex> lock(mtx);
+
242
+
243 auto result_providers_future =
+
244 get_providers_client_->async_send_request(request_providers, [this, &capability, &completed, &cv](GetProvidersClient::SharedFuture future) {
+
245 if (!future.valid())
+
246 {
+
247 throw fabric::fabric_exception("Failed to get Provider information from server");
+
248 }
+
249
+
250 auto response = future.get();
+
251 capability.alt_providers = response->providers;
+
252 capability.provider = response->default_provider;
+
253 completed = true;
+
254 cv.notify_all();
+
255 });
+
256
+
257 // wait for the response
+
258 cv.wait(lock, [&completed]() { return completed; });
+
259
+
260 RCLCPP_INFO(node_->get_logger(), "[Capability client] received for %s, default provider: %s, number of alternative providers: %d\n",
+
261 capability.interface.c_str(), capability.provider.c_str(), static_cast<int>(capability.alt_providers.size()));
+
262 }
+
263 }
+
+
264
+
+
270 std::string request_bond()
+
271 {
+
272 RCLCPP_INFO(node_->get_logger(), "[Capability client] requesting bond id");
+
273
+
274 // create bond establishing server request
+
275 auto request_bond = std::make_shared<EstablishBond::Request>();
+
276
+
277 std::string bond_id;
+
278 bool completed = false;
+
279 std::mutex mtx;
+
280 std::condition_variable cv;
+
281 std::unique_lock<std::mutex> lock(mtx);
+
282
+
283 // send the request
+
284 auto result_future =
+
285 establish_bond_client_->async_send_request(request_bond, [&bond_id, &completed, &cv, this](EstablishBondClient::SharedFuture future) {
+
286 if (!future.valid())
+
287 {
+
288 throw fabric::fabric_exception("Failed to establish bond with capabilities2 server");
+
289 }
+
290
+
291 auto response = future.get();
+
292 bond_id = response->bond_id;
+
293 RCLCPP_INFO(node_->get_logger(), "[Capability client] received bond id : %s\n", bond_id.c_str());
+
294
+
295 completed = true;
+
296 cv.notify_all();
+
297 });
+
298
+
299 // wait for the response
+
300 cv.wait(lock, [&completed]() { return completed; });
+
301
+
302 return bond_id;
+
303 }
+
+
304
+
+
312 void use_capabilities(fabric::Plan& plan)
+
313 {
+
314 int index = 0;
+
315
+
316 for (const auto& [id, connection] : plan.connections)
+
317 {
+
318 index++;
+
319
+
320 auto request_use = std::make_shared<UseCapability::Request>();
+
321 request_use->capability = connection.source.interface;
+
322 request_use->preferred_provider = connection.source.provider;
+
323 request_use->bond_id = plan.bond_id;
+
324
+
325 RCLCPP_INFO(node_->get_logger(), "[Capability client] starting capability %d : %s", index, connection.source.interface.c_str());
+
326
+
327 bool completed = false;
+
328 std::mutex mtx;
+
329 std::condition_variable cv;
+
330 std::unique_lock<std::mutex> lock(mtx);
+
331
+
332 auto result_future = use_capability_client_->async_send_request(request_use, [this, &completed, &cv](UseCapabilityClient::SharedFuture future) {
+
333 if (!future.valid())
+
334 {
+
335 throw fabric::fabric_exception("Failed to use capability");
+
336 }
+
337
+
338 auto response = future.get();
+
339 completed = true;
+
340 cv.notify_all();
+
341 });
+
342
+
343 // wait for the response
+
344 cv.wait(lock, [&completed]() { return completed; });
+
345
+
346 RCLCPP_INFO(node_->get_logger(), "[Capability client] capability %s started successfully.\n", connection.source.interface.c_str());
+
347 started_capabilities_.push_back(connection.source.interface);
+
348 }
+
349 }
+
+
350
+
+
358 void free_capabilities(fabric::Plan& plan)
+
359 {
+
360 // track freed capabilities
+
361 std::vector<std::string> freed_capabilities;
+
362
+
363 // prepare to free all started capabilities
+
364 for (const auto& capability : started_capabilities_)
+
365 {
+
366 // check if the capability is part of the plan connections
+
367 bool found = false;
+
368 for (const auto& [id, connection] : plan.connections)
+
369 {
+
370 if (connection.source.interface == capability)
+
371 {
+
372 found = true;
+
373 break;
+
374 }
+
375 }
+
376
+
377 bool completed = false;
+
378 std::mutex mtx;
+
379 std::condition_variable cv;
+
380 std::unique_lock<std::mutex> lock(mtx);
+
381
+
382 if (found)
+
383 {
+
384 // create free capability request
+
385 auto request_free = std::make_shared<FreeCapability::Request>();
+
386 request_free->capability = capability;
+
387 request_free->bond_id = plan.bond_id;
+
388
+
389 // send the request
+
390 auto result_future = free_capability_client_->async_send_request(
+
391 request_free, [this, &completed, &cv, &capability](FreeCapabilityClient::SharedFuture future) {
+
392 if (!future.valid())
+
393 {
+
394 throw fabric::fabric_exception("Failed to free capability " + capability);
+
395 }
+
396
+
397 auto response = future.get();
+
398 RCLCPP_INFO(node_->get_logger(), "[Capability client] capability %s freed successfully.\n", capability.c_str());
+
399 completed = true;
+
400 cv.notify_all();
+
401 });
+
402
+
403 // wait for the response
+
404 cv.wait(lock, [&completed]() { return completed; });
+
405
+
406 // track successfully freed capabilities
+
407 freed_capabilities.push_back(capability);
+
408 }
+
409 else
+
410 {
+
411 RCLCPP_WARN(node_->get_logger(), "[Capability client] capability %s was not started as part of the plan, skipping free request.",
+
412 capability.c_str());
+
413 }
+
414 }
+
415
+
416 // remove freed capabilities from started list
+
417 for (const auto& capability : freed_capabilities)
+
418 started_capabilities_.erase(std::remove(started_capabilities_.begin(), started_capabilities_.end(), capability), started_capabilities_.end());
+
419 }
+
+
420
+
+
421 void connect_capability(const std::string& bond_id, uint8_t code, const fabric::node& source, const fabric::node& target)
+
422 {
+
423 auto request = std::make_shared<ConnectCapability::Request>();
+
424
+
425 request->bond_id = bond_id;
+
426
+
427 request->connection.type.code = code;
+
428
+
429 request->connection.source = source.parameters.toMsg();
+
430 request->connection.source.capability = source.interface;
+
431 request->connection.source.provider = source.provider;
+
432 request->connection.source.instance_id = std::to_string(source.instance_id);
+
433
+
434 request->connection.target = target.parameters.toMsg();
+
435 request->connection.target.capability = target.interface;
+
436 request->connection.target.provider = target.provider;
+
437 request->connection.target.instance_id = std::to_string(target.instance_id);
+
438
+
439 bool completed = false;
+
440 std::mutex mtx;
+
441 std::condition_variable cv;
+
442 std::unique_lock<std::mutex> lock(mtx);
+
443
+
444 // send the request
+
445 auto result_future =
+
446 connect_capability_client_->async_send_request(request, [this, &completed, &cv](ConnectCapabilityClient::SharedFuture future) {
+
447 if (!future.valid())
+
448 {
+
449 throw fabric::fabric_exception("Failed to configure capability connection event");
+
450 }
+
451
+
452 auto response = future.get();
+
453
+
454 RCLCPP_INFO(node_->get_logger(), "[Capability client] capability connection event configured successfully.\n");
+
455 completed = true;
+
456 cv.notify_all();
+
457 });
+
458
+
459 // wait for the response
+
460 cv.wait(lock, [&completed]() { return completed; });
+
461 }
+
+
462
+
+
469 void connect_capabilities(fabric::Plan& plan)
+
470 {
+
471 for (const auto& [id, connection] : plan.connections)
+
472 {
+
473 RCLCPP_INFO(node_->get_logger(), "[Capability client] configuring connection for %s/%d", connection.source.interface.c_str(),
+
474 connection.source.instance_id);
+
475
+
476 if (connection.on_start.exists())
+
477 {
+
478 RCLCPP_INFO(node_->get_logger(), "[Capability client] connection to %s/%d on_start configuration requested",
+
479 connection.on_start.interface.c_str(), connection.on_start.instance_id);
+
480 connect_capability(plan.bond_id, CapabilityEventCode::STARTED, connection.source, connection.on_start);
+
481 }
+
482
+
483 if (connection.on_stop.exists())
+
484 {
+
485 RCLCPP_INFO(node_->get_logger(), "[Capability client] connection to %s/%d on_stop configuration requested",
+
486 connection.on_stop.interface.c_str(), connection.on_stop.instance_id);
+
487 connect_capability(plan.bond_id, CapabilityEventCode::STOPPED, connection.source, connection.on_stop);
+
488 }
+
489
+
490 if (connection.on_success.exists())
+
491 {
+
492 RCLCPP_INFO(node_->get_logger(), "[Capability client] connection to %s/%d on_success configuration requested",
+
493 connection.on_success.interface.c_str(), connection.on_success.instance_id);
+
494 connect_capability(plan.bond_id, CapabilityEventCode::SUCCEEDED, connection.source, connection.on_success);
+
495 }
+
496
+
497 if (connection.on_failure.exists())
+
498 {
+
499 RCLCPP_INFO(node_->get_logger(), "[Capability client] connection to %s/%d on_failure configuration requested",
+
500 connection.on_failure.interface.c_str(), connection.on_failure.instance_id);
+
501 connect_capability(plan.bond_id, CapabilityEventCode::FAILED, connection.source, connection.on_failure);
+
502 }
+
503 }
+
504 }
+
+
505
+
+
512 void trigger_first_node(fabric::Plan& plan)
+
513 {
+
514 auto request_trigger = std::make_shared<TriggerCapability::Request>();
+
515
+
516 bool completed = false;
+
517 std::mutex mtx;
+
518 std::condition_variable cv;
+
519 std::unique_lock<std::mutex> lock(mtx);
+
520
+
521 request_trigger->bond_id = plan.bond_id;
+
522 request_trigger->capability.instance_id = std::to_string(plan.connections[0].source.instance_id);
+
523 request_trigger->capability.capability = plan.connections[0].source.interface;
+
524 request_trigger->capability.parameters = plan.connections[0].source.parameters.toMsg().parameters;
+
525
+
526 // send the request
+
527 auto result_future =
+
528 trig_capability_client_->async_send_request(request_trigger, [this, &completed, &cv](TriggerCapabilityClient::SharedFuture future) {
+
529 if (!future.valid())
+
530 {
+
531 throw fabric::fabric_exception("Failed to trigger the first capability.");
+
532 }
+
533
+
534 auto response = future.get();
+
535 completed = true;
+
536 cv.notify_all();
+
537 RCLCPP_INFO(node_->get_logger(), "[Capability client] first capability triggered successfully.");
+
538 });
+
539
+
540 // wait for the response
+
541 cv.wait(lock, [&completed]() { return completed; });
+
542 }
+
+
543
+
544protected:
+
548 template <typename ClientT>
+
+
549 void wait_for_service(const std::shared_ptr<ClientT>& client, const std::string& service_name)
+
550 {
+
551 using namespace std::chrono_literals;
+
552
+
553 auto start = std::chrono::steady_clock::now();
+
554 while (rclcpp::ok())
+
555 {
+
556 if (client->wait_for_service(1s))
+
557 {
+
558 RCLCPP_INFO(node_->get_logger(), "[Capability client] %s connected", service_name.c_str());
+
559 return;
+
560 }
+
561
+
562 RCLCPP_INFO(node_->get_logger(), "[Capability client] %s is not available", service_name.c_str());
+
563
+
564 if (service_wait_timeout_sec_ >= 0)
+
565 {
+
566 const auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(std::chrono::steady_clock::now() - start);
+
567 if (elapsed.count() >= service_wait_timeout_sec_)
+
568 {
+
569 throw fabric::fabric_exception("Timed out waiting for service: " + service_name);
+
570 }
+
571 }
+
572 }
+
573
+
574 throw fabric::fabric_exception("ROS shutdown while waiting for service: " + service_name);
+
575 }
+
+
576
+
580 rclcpp::Node::SharedPtr node_;
+
581
+
582 int service_wait_timeout_sec_{ -1 };
+
583
+
587 std::string get_interfaces_;
+
588 std::string get_semantic_interfaces_;
+
589 std::string get_providers_;
+
590 std::string establish_bond_;
+
591 std::string use_capability_;
+
592 std::string free_capability_;
+
593 std::string trigger_capability_;
+
594 std::string configure_capability_;
+
595 std::string connect_capability_;
+
596
+
600 std::shared_ptr<bond::Bond> bond_;
+
601
+
602 std::vector<std::string> started_capabilities_;
+
603
+
605 GetInterfacesClient::SharedPtr get_interfaces_client_;
+
606
+
608 GetSemanticInterfacesClient::SharedPtr get_sem_interf_client_;
+
609
+
611 GetProvidersClient::SharedPtr get_providers_client_;
+
612
+
614 EstablishBondClient::SharedPtr establish_bond_client_;
+
615
+
617 UseCapabilityClient::SharedPtr use_capability_client_;
+
618
+
620 FreeCapabilityClient::SharedPtr free_capability_client_;
+
621
+
623 ConnectCapabilityClient::SharedPtr connect_capability_client_;
+
624
+
626 TriggerCapabilityClient::SharedPtr trig_capability_client_;
+
627};
+
+
628} // namespace fabric
+
fabric::CapabilityClient
Class for capability client interactions.
Definition capability_client.hpp:33
+
fabric::CapabilityClient::get_semantic_interfaces_
std::string get_semantic_interfaces_
Definition capability_client.hpp:588
+
fabric::CapabilityClient::free_capabilities
void free_capabilities(fabric::Plan &plan)
Request free of all started capabilities from capabilities2 server.
Definition capability_client.hpp:358
+
fabric::CapabilityClient::GetProvidersClient
rclcpp::Client< GetProviders > GetProvidersClient
Definition capability_client.hpp:48
+
fabric::CapabilityClient::GetInterfacesClient
rclcpp::Client< GetInterfaces > GetInterfacesClient
Definition capability_client.hpp:46
+
fabric::CapabilityClient::configure_capability_
std::string configure_capability_
Definition capability_client.hpp:594
+
fabric::CapabilityClient::connect_capabilities
void connect_capabilities(fabric::Plan &plan)
Request connection between capabilities from according to the provided plan.
Definition capability_client.hpp:469
+
fabric::CapabilityClient::free_capability_
std::string free_capability_
Definition capability_client.hpp:592
+
fabric::CapabilityClient::trigger_first_node
void trigger_first_node(fabric::Plan &plan)
Trigger the first node.
Definition capability_client.hpp:512
+
fabric::CapabilityClient::use_capability_
std::string use_capability_
Definition capability_client.hpp:591
+
fabric::CapabilityClient::get_providers_client_
GetProvidersClient::SharedPtr get_providers_client_
Definition capability_client.hpp:611
+
fabric::CapabilityClient::GetSemanticInterfacesClient
rclcpp::Client< GetSemanticInterfaces > GetSemanticInterfacesClient
Definition capability_client.hpp:47
+
fabric::CapabilityClient::GetSemanticInterfaces
capabilities2_msgs::srv::GetSemanticInterfaces GetSemanticInterfaces
Definition capability_client.hpp:36
+
fabric::CapabilityClient::getInterfaces
void getInterfaces(std::vector< CapabilityInfo > &capabilities)
Get the Interfaces from the capabilities2 server via related service client.
Definition capability_client.hpp:121
+
fabric::CapabilityClient::request_bond
std::string request_bond()
Request the bond from the capabilities2 server.
Definition capability_client.hpp:270
+
fabric::CapabilityClient::connect_capability_
std::string connect_capability_
Definition capability_client.hpp:595
+
fabric::CapabilityClient::EstablishBondClient
rclcpp::Client< EstablishBond > EstablishBondClient
Definition capability_client.hpp:49
+
fabric::CapabilityClient::started_capabilities_
std::vector< std::string > started_capabilities_
Definition capability_client.hpp:602
+
fabric::CapabilityClient::ConnectCapabilityClient
rclcpp::Client< ConnectCapability > ConnectCapabilityClient
Definition capability_client.hpp:52
+
fabric::CapabilityClient::GetInterfaces
capabilities2_msgs::srv::GetInterfaces GetInterfaces
Definition capability_client.hpp:35
+
fabric::CapabilityClient::bond_
std::shared_ptr< bond::Bond > bond_
Heart beat bond with capabilities server.
Definition capability_client.hpp:600
+
fabric::CapabilityClient::FreeCapability
capabilities2_msgs::srv::FreeCapability FreeCapability
Definition capability_client.hpp:40
+
fabric::CapabilityClient::TriggerCapabilityClient
rclcpp::Client< TriggerCapability > TriggerCapabilityClient
Definition capability_client.hpp:53
+
fabric::CapabilityClient::trig_capability_client_
TriggerCapabilityClient::SharedPtr trig_capability_client_
Definition capability_client.hpp:626
+
fabric::CapabilityClient::initialize
virtual void initialize(const rclcpp::Node::SharedPtr &node)
Initialize the capability client with the given ROS2 node.
Definition capability_client.hpp:66
+
fabric::CapabilityClient::get_interfaces_client_
GetInterfacesClient::SharedPtr get_interfaces_client_
Definition capability_client.hpp:605
+
fabric::CapabilityClient::use_capabilities
void use_capabilities(fabric::Plan &plan)
Request use of capability from capabilities2 server.
Definition capability_client.hpp:312
+
fabric::CapabilityClient::get_sem_interf_client_
GetSemanticInterfacesClient::SharedPtr get_sem_interf_client_
Definition capability_client.hpp:608
+
fabric::CapabilityClient::EstablishBond
capabilities2_msgs::srv::EstablishBond EstablishBond
Definition capability_client.hpp:38
+
fabric::CapabilityClient::getSemanticInterfaces
void getSemanticInterfaces(std::vector< CapabilityInfo > &capabilities)
Get the Semantic Interfaces from the capabilities2 server via related service client.
Definition capability_client.hpp:168
+
fabric::CapabilityClient::getProviders
void getProviders(std::vector< CapabilityInfo > &capabilities)
Get the Provider information for the related interfaces. T.
Definition capability_client.hpp:226
+
fabric::CapabilityClient::connect_capability_client_
ConnectCapabilityClient::SharedPtr connect_capability_client_
Definition capability_client.hpp:623
+
fabric::CapabilityClient::FreeCapabilityClient
rclcpp::Client< FreeCapability > FreeCapabilityClient
Definition capability_client.hpp:51
+
fabric::CapabilityClient::establish_bond_
std::string establish_bond_
Definition capability_client.hpp:590
+
fabric::CapabilityClient::wait_for_service
void wait_for_service(const std::shared_ptr< ClientT > &client, const std::string &service_name)
Wait for a service to become available.
Definition capability_client.hpp:549
+
fabric::CapabilityClient::GetProviders
capabilities2_msgs::srv::GetProviders GetProviders
Definition capability_client.hpp:37
+
fabric::CapabilityClient::connect_capability
void connect_capability(const std::string &bond_id, uint8_t code, const fabric::node &source, const fabric::node &target)
Definition capability_client.hpp:421
+
fabric::CapabilityClient::~CapabilityClient
virtual ~CapabilityClient()=default
+
fabric::CapabilityClient::use_capability_client_
UseCapabilityClient::SharedPtr use_capability_client_
Definition capability_client.hpp:617
+
fabric::CapabilityClient::get_interfaces_
std::string get_interfaces_
service names
Definition capability_client.hpp:587
+
fabric::CapabilityClient::free_capability_client_
FreeCapabilityClient::SharedPtr free_capability_client_
Definition capability_client.hpp:620
+
fabric::CapabilityClient::UseCapabilityClient
rclcpp::Client< UseCapability > UseCapabilityClient
Definition capability_client.hpp:50
+
fabric::CapabilityClient::CapabilityEventCode
capabilities2_msgs::msg::CapabilityEventCode CapabilityEventCode
Definition capability_client.hpp:44
+
fabric::CapabilityClient::get_providers_
std::string get_providers_
Definition capability_client.hpp:589
+
fabric::CapabilityClient::ConnectCapability
capabilities2_msgs::srv::ConnectCapability ConnectCapability
Definition capability_client.hpp:41
+
fabric::CapabilityClient::service_wait_timeout_sec_
int service_wait_timeout_sec_
Definition capability_client.hpp:582
+
fabric::CapabilityClient::TriggerCapability
capabilities2_msgs::srv::TriggerCapability TriggerCapability
Definition capability_client.hpp:42
+
fabric::CapabilityClient::CapabilityClient
CapabilityClient()
Definition capability_client.hpp:55
+
fabric::CapabilityClient::establish_bond_client_
EstablishBondClient::SharedPtr establish_bond_client_
Definition capability_client.hpp:614
+
fabric::CapabilityClient::trigger_capability_
std::string trigger_capability_
Definition capability_client.hpp:593
+
fabric::CapabilityClient::node_
rclcpp::Node::SharedPtr node_
pointer to the ROS2 node
Definition capability_client.hpp:580
+
fabric::CapabilityClient::UseCapability
capabilities2_msgs::srv::UseCapability UseCapability
Definition capability_client.hpp:39
+ +
fabric
Definition parser_base.hpp:9
+
fabric::CapabilityInfo
Definition structs.hpp:80
+
fabric::CapabilityInfo::interface
std::string interface
Definition structs.hpp:81
+
fabric::CapabilityInfo::is_semantic
bool is_semantic
Definition structs.hpp:83
+
fabric::Plan
Definition structs.hpp:70
+
fabric::Plan::connections
std::map< int, connection > connections
Definition structs.hpp:74
+
fabric::Plan::bond_id
std::string bond_id
Definition structs.hpp:73
+
fabric::connection
Structure representing connections between nodes.
Definition structs.hpp:42
+
fabric::connection::on_success
node on_success
Definition structs.hpp:46
+
fabric::connection::on_start
node on_start
Definition structs.hpp:44
+
fabric::connection::source
node source
Definition structs.hpp:43
+
fabric::connection::on_failure
node on_failure
Definition structs.hpp:47
+
fabric::connection::on_stop
node on_stop
Definition structs.hpp:45
+
fabric::fabric_exception
Base class for driver exceptions.
Definition exception.hpp:14
+
fabric::node
Structure representing a node in the fabric.
Definition structs.hpp:26
+
fabric::node::provider
std::string provider
Definition structs.hpp:28
+
fabric::node::interface
std::string interface
Definition structs.hpp:27
+
fabric::node::exists
bool exists() const
Definition structs.hpp:32
+
fabric::node::parameters
capabilities2_events::EventParameters parameters
Definition structs.hpp:29
+
fabric::node::instance_id
int instance_id
Definition structs.hpp:30
+ +
xml_helper.hpp
+
+ +
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+ + diff --git a/docs/html/classBondClient-members.html b/docs/html/classBondClient-members.html new file mode 100644 index 0000000..a16f696 --- /dev/null +++ b/docs/html/classBondClient-members.html @@ -0,0 +1,94 @@ + + + + + + + +Fabric: Member List + + + + + + + + + +
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BondClient Member List
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This is the complete list of members for BondClient, including all inherited members.

+ + + + + + + + + + + +
bond_BondClientprivate
bond_id_BondClientprivate
BondClient(rclcpp::Node::SharedPtr node, const std::string &bond_id)BondClientinline
node_BondClientprivate
on_broken()BondClientinlineprivate
on_formed()BondClientinlineprivate
start()BondClientinline
stop()BondClientinline
topic_BondClientprivate
~BondClient()BondClientinline
+ +
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BondClient Class Reference
+
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+ +

#include <bond_client.hpp>

+ + + + + + + + + + + + + +

+Public Member Functions

 BondClient (rclcpp::Node::SharedPtr node, const std::string &bond_id)
 Construct a new Bond Client object.
 
void start ()
 start the bond
 
void stop ()
 stop the bond
 
 ~BondClient ()
 
+ + + + + + + +

+Private Member Functions

void on_formed ()
 callback function for bond formed event
 
void on_broken ()
 callback function for bond broken event
 
+ + + + + + + + + +

+Private Attributes

rclcpp::Node::SharedPtr node_
 
std::string bond_id_
 
std::string topic_
 
std::shared_ptr< bond::Bond > bond_
 
+

Constructor & Destructor Documentation

+ +

◆ BondClient()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
BondClient::BondClient (rclcpp::Node::SharedPtr node,
const std::string & bond_id 
)
+ 		+inline
+
+ +

Construct a new Bond Client object.

+
Parameters
+ + + +
nodepointer to the node
bond_idBond id string
+
+
+ +
+
+ +

◆ ~BondClient()

+ +
+
+ + + + + +
+ + + + + + + +
BondClient::~BondClient ()
+ 		+inline
+
+ +
+
+

Member Function Documentation

+ +

◆ on_broken()

+ +
+
+ + + + + +
+ + + + + + + +
void BondClient::on_broken ()
+ 		+inlineprivate
+
+ +

callback function for bond broken event

+ +
+
+ +

◆ on_formed()

+ +
+
+ + + + + +
+ + + + + + + +
void BondClient::on_formed ()
+ 		+inlineprivate
+
+ +

callback function for bond formed event

+ +
+
+ +

◆ start()

+ +
+
+ + + + + +
+ + + + + + + +
void BondClient::start ()
+ 		+inline
+
+ +

start the bond

+ +
+
+ +

◆ stop()

+ +
+
+ + + + + +
+ + + + + + + +
void BondClient::stop ()
+ 		+inline
+
+ +

stop the bond

+ +
+
+

Member Data Documentation

+ +

◆ bond_

+ +
+
+ + + + + +
+ + + + +
std::shared_ptr<bond::Bond> BondClient::bond_
+ 		+private
+
+

Heart beat bond with capabilities server

+ +
+
+ +

◆ bond_id_

+ +
+
+ + + + + +
+ + + + +
std::string BondClient::bond_id_
+ 		+private
+
+

Bond id string

+ +
+
+ +

◆ node_

+ +
+
+ + + + + +
+ + + + +
rclcpp::Node::SharedPtr BondClient::node_
+ 		+private
+
+

Ros node pointer

+ +
+
+ +

◆ topic_

+ +
+
+ + + + + +
+ + + + +
std::string BondClient::topic_
+ 		+private
+
+

Bond topic to be published

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/classes.html b/docs/html/classes.html new file mode 100644 index 0000000..86b9a20 --- /dev/null +++ b/docs/html/classes.html @@ -0,0 +1,105 @@ + + + + + + + +Fabric: Class Index + + + + + + + + + +
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B | C | F | N | P | V | X
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B
+
BondClient
+
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C
+
CapabilityClient (fabric)
CapabilityInfo (fabric)
CompatibilityValidation (fabric)
connection (fabric)
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+
F
+
Fabric (fabric)
fabric_exception (fabric)
+
+
N
+
node (fabric)
+
+
P
+
ParserBase (fabric)
Plan (fabric)
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V
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ValidationBase (fabric)
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X
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XMLParser (fabric)
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fabric::CapabilityClient Member List
+
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+ +

This is the complete list of members for fabric::CapabilityClient, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
bond_fabric::CapabilityClientprotected
CapabilityClient()fabric::CapabilityClientinline
CapabilityEventCode typedeffabric::CapabilityClient
configure_capability_fabric::CapabilityClientprotected
connect_capabilities(fabric::Plan &plan)fabric::CapabilityClientinline
connect_capability(const std::string &bond_id, uint8_t code, const fabric::node &source, const fabric::node &target)fabric::CapabilityClientinline
connect_capability_fabric::CapabilityClientprotected
connect_capability_client_fabric::CapabilityClientprotected
ConnectCapability typedeffabric::CapabilityClient
ConnectCapabilityClient typedeffabric::CapabilityClient
establish_bond_fabric::CapabilityClientprotected
establish_bond_client_fabric::CapabilityClientprotected
EstablishBond typedeffabric::CapabilityClient
EstablishBondClient typedeffabric::CapabilityClient
free_capabilities(fabric::Plan &plan)fabric::CapabilityClientinline
free_capability_fabric::CapabilityClientprotected
free_capability_client_fabric::CapabilityClientprotected
FreeCapability typedeffabric::CapabilityClient
FreeCapabilityClient typedeffabric::CapabilityClient
get_interfaces_fabric::CapabilityClientprotected
get_interfaces_client_fabric::CapabilityClientprotected
get_providers_fabric::CapabilityClientprotected
get_providers_client_fabric::CapabilityClientprotected
get_sem_interf_client_fabric::CapabilityClientprotected
get_semantic_interfaces_fabric::CapabilityClientprotected
GetInterfaces typedeffabric::CapabilityClient
getInterfaces(std::vector< CapabilityInfo > &capabilities)fabric::CapabilityClientinline
GetInterfacesClient typedeffabric::CapabilityClient
getProviders(std::vector< CapabilityInfo > &capabilities)fabric::CapabilityClientinline
GetProviders typedeffabric::CapabilityClient
GetProvidersClient typedeffabric::CapabilityClient
getSemanticInterfaces(std::vector< CapabilityInfo > &capabilities)fabric::CapabilityClientinline
GetSemanticInterfaces typedeffabric::CapabilityClient
GetSemanticInterfacesClient typedeffabric::CapabilityClient
initialize(const rclcpp::Node::SharedPtr &node)fabric::CapabilityClientinlinevirtual
node_fabric::CapabilityClientprotected
request_bond()fabric::CapabilityClientinline
service_wait_timeout_sec_fabric::CapabilityClientprotected
started_capabilities_fabric::CapabilityClientprotected
trig_capability_client_fabric::CapabilityClientprotected
trigger_capability_fabric::CapabilityClientprotected
trigger_first_node(fabric::Plan &plan)fabric::CapabilityClientinline
TriggerCapability typedeffabric::CapabilityClient
TriggerCapabilityClient typedeffabric::CapabilityClient
use_capabilities(fabric::Plan &plan)fabric::CapabilityClientinline
use_capability_fabric::CapabilityClientprotected
use_capability_client_fabric::CapabilityClientprotected
UseCapability typedeffabric::CapabilityClient
UseCapabilityClient typedeffabric::CapabilityClient
wait_for_service(const std::shared_ptr< ClientT > &client, const std::string &service_name)fabric::CapabilityClientinlineprotected
~CapabilityClient()=defaultfabric::CapabilityClientvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/classfabric_1_1CapabilityClient.html b/docs/html/classfabric_1_1CapabilityClient.html new file mode 100644 index 0000000..eb78180 --- /dev/null +++ b/docs/html/classfabric_1_1CapabilityClient.html @@ -0,0 +1,1433 @@ + + + + + + + +Fabric: fabric::CapabilityClient Class Reference + + + + + + + + + +
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fabric::CapabilityClient Class Reference
+
+
+ +

Class for capability client interactions. + More...

+ +

#include <capability_client.hpp>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Types

using GetInterfaces = capabilities2_msgs::srv::GetInterfaces
 
using GetSemanticInterfaces = capabilities2_msgs::srv::GetSemanticInterfaces
 
using GetProviders = capabilities2_msgs::srv::GetProviders
 
using EstablishBond = capabilities2_msgs::srv::EstablishBond
 
using UseCapability = capabilities2_msgs::srv::UseCapability
 
using FreeCapability = capabilities2_msgs::srv::FreeCapability
 
using ConnectCapability = capabilities2_msgs::srv::ConnectCapability
 
using TriggerCapability = capabilities2_msgs::srv::TriggerCapability
 
using CapabilityEventCode = capabilities2_msgs::msg::CapabilityEventCode
 
using GetInterfacesClient = rclcpp::Client< GetInterfaces >
 
using GetSemanticInterfacesClient = rclcpp::Client< GetSemanticInterfaces >
 
using GetProvidersClient = rclcpp::Client< GetProviders >
 
using EstablishBondClient = rclcpp::Client< EstablishBond >
 
using UseCapabilityClient = rclcpp::Client< UseCapability >
 
using FreeCapabilityClient = rclcpp::Client< FreeCapability >
 
using ConnectCapabilityClient = rclcpp::Client< ConnectCapability >
 
using TriggerCapabilityClient = rclcpp::Client< TriggerCapability >
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 CapabilityClient ()
 
virtual ~CapabilityClient ()=default
 
virtual void initialize (const rclcpp::Node::SharedPtr &node)
 Initialize the capability client with the given ROS2 node.
 
void getInterfaces (std::vector< CapabilityInfo > &capabilities)
 Get the Interfaces from the capabilities2 server via related service client.
 
void getSemanticInterfaces (std::vector< CapabilityInfo > &capabilities)
 Get the Semantic Interfaces from the capabilities2 server via related service client.
 
void getProviders (std::vector< CapabilityInfo > &capabilities)
 Get the Provider information for the related interfaces. T.
 
std::string request_bond ()
 Request the bond from the capabilities2 server.
 
void use_capabilities (fabric::Plan &plan)
 Request use of capability from capabilities2 server.
 
void free_capabilities (fabric::Plan &plan)
 Request free of all started capabilities from capabilities2 server.
 
void connect_capability (const std::string &bond_id, uint8_t code, const fabric::node &source, const fabric::node &target)
 
void connect_capabilities (fabric::Plan &plan)
 Request connection between capabilities from according to the provided plan.
 
void trigger_first_node (fabric::Plan &plan)
 Trigger the first node.
 
+ + + + + +

+Protected Member Functions

template<typename ClientT >
void wait_for_service (const std::shared_ptr< ClientT > &client, const std::string &service_name)
 Wait for a service to become available.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Attributes

rclcpp::Node::SharedPtr node_
 pointer to the ROS2 node
 
int service_wait_timeout_sec_ { -1 }
 
std::string get_interfaces_
 service names
 
std::string get_semantic_interfaces_
 
std::string get_providers_
 
std::string establish_bond_
 
std::string use_capability_
 
std::string free_capability_
 
std::string trigger_capability_
 
std::string configure_capability_
 
std::string connect_capability_
 
std::shared_ptr< bond::Bond > bond_
 Heart beat bond with capabilities server.
 
std::vector< std::string > started_capabilities_
 
GetInterfacesClient::SharedPtr get_interfaces_client_
 
GetSemanticInterfacesClient::SharedPtr get_sem_interf_client_
 
GetProvidersClient::SharedPtr get_providers_client_
 
EstablishBondClient::SharedPtr establish_bond_client_
 
UseCapabilityClient::SharedPtr use_capability_client_
 
FreeCapabilityClient::SharedPtr free_capability_client_
 
ConnectCapabilityClient::SharedPtr connect_capability_client_
 
TriggerCapabilityClient::SharedPtr trig_capability_client_
 
+

Detailed Description

+

Class for capability client interactions.

+

Member Typedef Documentation

+ +

◆ CapabilityEventCode

+ +
+
+ + + + +
using fabric::CapabilityClient::CapabilityEventCode = capabilities2_msgs::msg::CapabilityEventCode
+
+ +
+
+ +

◆ ConnectCapability

+ +
+
+ + + + +
using fabric::CapabilityClient::ConnectCapability = capabilities2_msgs::srv::ConnectCapability
+
+ +
+
+ +

◆ ConnectCapabilityClient

+ +
+
+ + + + +
using fabric::CapabilityClient::ConnectCapabilityClient = rclcpp::Client<ConnectCapability>
+
+ +
+
+ +

◆ EstablishBond

+ +
+
+ + + + +
using fabric::CapabilityClient::EstablishBond = capabilities2_msgs::srv::EstablishBond
+
+ +
+
+ +

◆ EstablishBondClient

+ +
+
+ + + + +
using fabric::CapabilityClient::EstablishBondClient = rclcpp::Client<EstablishBond>
+
+ +
+
+ +

◆ FreeCapability

+ +
+
+ + + + +
using fabric::CapabilityClient::FreeCapability = capabilities2_msgs::srv::FreeCapability
+
+ +
+
+ +

◆ FreeCapabilityClient

+ +
+
+ + + + +
using fabric::CapabilityClient::FreeCapabilityClient = rclcpp::Client<FreeCapability>
+
+ +
+
+ +

◆ GetInterfaces

+ +
+
+ + + + +
using fabric::CapabilityClient::GetInterfaces = capabilities2_msgs::srv::GetInterfaces
+
+ +
+
+ +

◆ GetInterfacesClient

+ +
+
+ + + + +
using fabric::CapabilityClient::GetInterfacesClient = rclcpp::Client<GetInterfaces>
+
+ +
+
+ +

◆ GetProviders

+ +
+
+ + + + +
using fabric::CapabilityClient::GetProviders = capabilities2_msgs::srv::GetProviders
+
+ +
+
+ +

◆ GetProvidersClient

+ +
+
+ + + + +
using fabric::CapabilityClient::GetProvidersClient = rclcpp::Client<GetProviders>
+
+ +
+
+ +

◆ GetSemanticInterfaces

+ +
+
+ + + + +
using fabric::CapabilityClient::GetSemanticInterfaces = capabilities2_msgs::srv::GetSemanticInterfaces
+
+ +
+
+ +

◆ GetSemanticInterfacesClient

+ +
+
+ + + + +
using fabric::CapabilityClient::GetSemanticInterfacesClient = rclcpp::Client<GetSemanticInterfaces>
+
+ +
+
+ +

◆ TriggerCapability

+ +
+
+ + + + +
using fabric::CapabilityClient::TriggerCapability = capabilities2_msgs::srv::TriggerCapability
+
+ +
+
+ +

◆ TriggerCapabilityClient

+ +
+
+ + + + +
using fabric::CapabilityClient::TriggerCapabilityClient = rclcpp::Client<TriggerCapability>
+
+ +
+
+ +

◆ UseCapability

+ +
+
+ + + + +
using fabric::CapabilityClient::UseCapability = capabilities2_msgs::srv::UseCapability
+
+ +
+
+ +

◆ UseCapabilityClient

+ +
+
+ + + + +
using fabric::CapabilityClient::UseCapabilityClient = rclcpp::Client<UseCapability>
+
+ +
+
+

Constructor & Destructor Documentation

+ +

◆ CapabilityClient()

+ +
+
+ + + + + +
+ + + + + + + +
fabric::CapabilityClient::CapabilityClient ()
+ 		+inline
+
+ +
+
+ +

◆ ~CapabilityClient()

+ +
+
+ + + + + +
+ + + + + + + +
virtual fabric::CapabilityClient::~CapabilityClient ()
+ 		+virtualdefault
+
+ +
+
+

Member Function Documentation

+ +

◆ connect_capabilities()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::CapabilityClient::connect_capabilities (fabric::Plan & plan)
+ 		+inline
+
+ +

Request connection between capabilities from according to the provided plan.

+
Exceptions
+ + +
fabric::fabric_exceptionif any connection fails
+
+
+
Parameters
+ + +
planFabric plan containing the bond id and connections to be established
+
+
+ +
+
+ +

◆ connect_capability()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void fabric::CapabilityClient::connect_capability (const std::string & bond_id,
uint8_t code,
const fabric::node & source,
const fabric::node & target 
)
+ 		+inline
+
+ +
+
+ +

◆ free_capabilities()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::CapabilityClient::free_capabilities (fabric::Plan & plan)
+ 		+inline
+
+ +

Request free of all started capabilities from capabilities2 server.

+
Exceptions
+ + +
fabric::fabric_exceptionif any capability fails to free
+
+
+
Parameters
+ + +
planFabric plan containing the bond id and capabilities to be freed
+
+
+ +
+
+ +

◆ getInterfaces()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::CapabilityClient::getInterfaces (std::vector< CapabilityInfo > & capabilities)
+ 		+inline
+
+ +

Get the Interfaces from the capabilities2 server via related service client.

+
Exceptions
+ + +
`fabric::fabric_exception`if the service call fails
+
+
+
Parameters
+ + +
interfacesstd::vector of interfaces for which the information will be requested
+
+
+ +
+
+ +

◆ getProviders()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::CapabilityClient::getProviders (std::vector< CapabilityInfo > & capabilities)
+ 		+inline
+
+ +

Get the Provider information for the related interfaces. T.

+
Exceptions
+ + +
`fabric::fabric_exception`if the service call fails
+
+
+
Parameters
+ + +
capabilitiesstd::vector of CapabilityInfo for which the provider information will be requested
+
+
+ +
+
+ +

◆ getSemanticInterfaces()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::CapabilityClient::getSemanticInterfaces (std::vector< CapabilityInfo > & capabilities)
+ 		+inline
+
+ +

Get the Semantic Interfaces from the capabilities2 server via related service client.

+
Exceptions
+ + +
`fabric::fabric_exception`if the service call fails
+
+
+
Parameters
+ + +
interfacesstd::vector of interfaces for which the semantic interfaces will be requested
+
+
+ +
+
+ +

◆ initialize()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void fabric::CapabilityClient::initialize (const rclcpp::Node::SharedPtr & node)
+ 		+inlinevirtual
+
+ +

Initialize the capability client with the given ROS2 node.

+
Parameters
+ + +
nodeShared pointer to the ROS2 node.
+
+
+ +
+
+ +

◆ request_bond()

+ +
+
+ + + + + +
+ + + + + + + +
std::string fabric::CapabilityClient::request_bond ()
+ 		+inline
+
+ +

Request the bond from the capabilities2 server.

+
Exceptions
+ + +
`fabric::fabric_exception`if the service call fails
+
+
+ +
+
+ +

◆ trigger_first_node()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::CapabilityClient::trigger_first_node (fabric::Plan & plan)
+ 		+inline
+
+ +

Trigger the first node.

+
Exceptions
+ + +
fabric::fabric_exceptionif the first capability fails to trigger
+
+
+
Parameters
+ + +
planFabric plan containing the bond id and connections to be triggered
+
+
+ +
+
+ +

◆ use_capabilities()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::CapabilityClient::use_capabilities (fabric::Plan & plan)
+ 		+inline
+
+ +

Request use of capability from capabilities2 server.

+
Exceptions
+ + +
fabric::fabric_exceptionif any capability fails to start
+
+
+
Parameters
+ + +
planFabric plan containing the bond id and capabilities to be used
+
+
+ +
+
+ +

◆ wait_for_service()

+ +
+
+
+template<typename ClientT >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void fabric::CapabilityClient::wait_for_service (const std::shared_ptr< ClientT > & client,
const std::string & service_name 
)
+ 		+inlineprotected
+
+ +

Wait for a service to become available.

+ +
+
+

Member Data Documentation

+ +

◆ bond_

+ +
+
+ + + + + +
+ + + + +
std::shared_ptr<bond::Bond> fabric::CapabilityClient::bond_
+ 		+protected
+
+ +

Heart beat bond with capabilities server.

+ +
+
+ +

◆ configure_capability_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::CapabilityClient::configure_capability_
+ 		+protected
+
+ +
+
+ +

◆ connect_capability_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::CapabilityClient::connect_capability_
+ 		+protected
+
+ +
+
+ +

◆ connect_capability_client_

+ +
+
+ + + + + +
+ + + + +
ConnectCapabilityClient::SharedPtr fabric::CapabilityClient::connect_capability_client_
+ 		+protected
+
+

configure an selected capability

+ +
+
+ +

◆ establish_bond_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::CapabilityClient::establish_bond_
+ 		+protected
+
+ +
+
+ +

◆ establish_bond_client_

+ +
+
+ + + + + +
+ + + + +
EstablishBondClient::SharedPtr fabric::CapabilityClient::establish_bond_client_
+ 		+protected
+
+

establish bond

+ +
+
+ +

◆ free_capability_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::CapabilityClient::free_capability_
+ 		+protected
+
+ +
+
+ +

◆ free_capability_client_

+ +
+
+ + + + + +
+ + + + +
FreeCapabilityClient::SharedPtr fabric::CapabilityClient::free_capability_client_
+ 		+protected
+
+

free an selected capability

+ +
+
+ +

◆ get_interfaces_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::CapabilityClient::get_interfaces_
+ 		+protected
+
+ +

service names

+ +
+
+ +

◆ get_interfaces_client_

+ +
+
+ + + + + +
+ + + + +
GetInterfacesClient::SharedPtr fabric::CapabilityClient::get_interfaces_client_
+ 		+protected
+
+

Get interfaces from capabilities server

+ +
+
+ +

◆ get_providers_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::CapabilityClient::get_providers_
+ 		+protected
+
+ +
+
+ +

◆ get_providers_client_

+ +
+
+ + + + + +
+ + + + +
GetProvidersClient::SharedPtr fabric::CapabilityClient::get_providers_client_
+ 		+protected
+
+

Get providers from capabilities server

+ +
+
+ +

◆ get_sem_interf_client_

+ +
+
+ + + + + +
+ + + + +
GetSemanticInterfacesClient::SharedPtr fabric::CapabilityClient::get_sem_interf_client_
+ 		+protected
+
+

Get semantic interfaces from capabilities server

+ +
+
+ +

◆ get_semantic_interfaces_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::CapabilityClient::get_semantic_interfaces_
+ 		+protected
+
+ +
+
+ +

◆ node_

+ +
+
+ + + + + +
+ + + + +
rclcpp::Node::SharedPtr fabric::CapabilityClient::node_
+ 		+protected
+
+ +

pointer to the ROS2 node

+ +
+
+ +

◆ service_wait_timeout_sec_

+ +
+
+ + + + + +
+ + + + +
int fabric::CapabilityClient::service_wait_timeout_sec_ { -1 }
+ 		+protected
+
+ +
+
+ +

◆ started_capabilities_

+ +
+
+ + + + + +
+ + + + +
std::vector<std::string> fabric::CapabilityClient::started_capabilities_
+ 		+protected
+
+ +
+
+ +

◆ trig_capability_client_

+ +
+
+ + + + + +
+ + + + +
TriggerCapabilityClient::SharedPtr fabric::CapabilityClient::trig_capability_client_
+ 		+protected
+
+

trigger an selected capability

+ +
+
+ +

◆ trigger_capability_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::CapabilityClient::trigger_capability_
+ 		+protected
+
+ +
+
+ +

◆ use_capability_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::CapabilityClient::use_capability_
+ 		+protected
+
+ +
+
+ +

◆ use_capability_client_

+ +
+
+ + + + + +
+ + + + +
UseCapabilityClient::SharedPtr fabric::CapabilityClient::use_capability_client_
+ 		+protected
+
+

use an selected capability

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/classfabric_1_1CompatibilityValidation-members.html b/docs/html/classfabric_1_1CompatibilityValidation-members.html new file mode 100644 index 0000000..5ae56a5 --- /dev/null +++ b/docs/html/classfabric_1_1CompatibilityValidation-members.html @@ -0,0 +1,96 @@ + + + + + + + +Fabric: Member List + + + + + + + + + +
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+
fabric::CompatibilityValidation Member List
+
+
+ +

This is the complete list of members for fabric::CompatibilityValidation, including all inherited members.

+ + + + + + + + + +
CompatibilityValidation()=defaultfabric::CompatibilityValidation
initialize(const rclcpp::Node::SharedPtr &node) overridefabric::CompatibilityValidationinlinevirtual
initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)fabric::ValidationBaseinlineprotected
node_fabric::ValidationBaseprotected
plugin_name_fabric::ValidationBaseprotected
validate(fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities) overridefabric::CompatibilityValidationinlinevirtual
~CompatibilityValidation()=defaultfabric::CompatibilityValidationvirtual
~ValidationBase()=defaultfabric::ValidationBasevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/classfabric_1_1CompatibilityValidation.html b/docs/html/classfabric_1_1CompatibilityValidation.html new file mode 100644 index 0000000..28cfae8 --- /dev/null +++ b/docs/html/classfabric_1_1CompatibilityValidation.html @@ -0,0 +1,279 @@ + + + + + + + +Fabric: fabric::CompatibilityValidation Class Reference + + + + + + + + + +
+
+ + + + + + +
+
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+Public Member Functions | +List of all members
+
fabric::CompatibilityValidation Class Reference
+
+
+ +

Syntax validation plugin for XML plans. + More...

+ +

#include <compatibility_plugin.hpp>

+
+Inheritance diagram for fabric::CompatibilityValidation:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for fabric::CompatibilityValidation:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + +

+Public Member Functions

 CompatibilityValidation ()=default
 
virtual ~CompatibilityValidation ()=default
 
void initialize (const rclcpp::Node::SharedPtr &node) override
 Initialize the syntax validation plugin.
 
void validate (fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities) override
 Validate the given XML plan for compatibility.
 
- Public Member Functions inherited from fabric::ValidationBase
virtual ~ValidationBase ()=default
 
+ + + + + + + + + + + + +

+Additional Inherited Members

- Protected Member Functions inherited from fabric::ValidationBase
void initialize_base (const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
 Base initialization method for derived classes.
 
- Protected Attributes inherited from fabric::ValidationBase
rclcpp::Node::SharedPtr node_
 Shared pointer to the ROS2 node.
 
std::string plugin_name_
 Name of the validation plugin.
 
+

Detailed Description

+

Syntax validation plugin for XML plans.

+

This plugin checks the XML plan for basic syntax errors (well-formedness, root tag, etc).

+

Constructor & Destructor Documentation

+ +

◆ CompatibilityValidation()

+ +
+
+ + + + + +
+ + + + + + + +
fabric::CompatibilityValidation::CompatibilityValidation ()
+ 		+default
+
+ +
+
+ +

◆ ~CompatibilityValidation()

+ +
+
+ + + + + +
+ + + + + + + +
virtual fabric::CompatibilityValidation::~CompatibilityValidation ()
+ 		+virtualdefault
+
+ +
+
+

Member Function Documentation

+ +

◆ initialize()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::CompatibilityValidation::initialize (const rclcpp::Node::SharedPtr & node)
+ 		+inlineoverridevirtual
+
+ +

Initialize the syntax validation plugin.

+ +

Reimplemented from fabric::ValidationBase.

+ +
+
+ +

◆ validate()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void fabric::CompatibilityValidation::validate (fabric::Plan & plan,
std::vector< CapabilityInfo > & capabilities 
)
+ 		+inlineoverridevirtual
+
+ +

Validate the given XML plan for compatibility.

+
Parameters
+ + + +
planThe fabric::Plan to validate.
capabilitiesSupport data for evaluation as a vector of fabric::CapabilityInfo.
+
+
+ +

Implements fabric::ValidationBase.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/classfabric_1_1CompatibilityValidation__coll__graph.map b/docs/html/classfabric_1_1CompatibilityValidation__coll__graph.map new file mode 100644 index 0000000..7f205d0 --- /dev/null +++ b/docs/html/classfabric_1_1CompatibilityValidation__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/docs/html/classfabric_1_1CompatibilityValidation__coll__graph.md5 b/docs/html/classfabric_1_1CompatibilityValidation__coll__graph.md5 new file mode 100644 index 0000000..0dabaf6 --- /dev/null +++ b/docs/html/classfabric_1_1CompatibilityValidation__coll__graph.md5 @@ -0,0 +1 @@ +abbf9cc1d54cee50ed3c09a49c2b9f3f \ No newline at end of file diff --git a/docs/html/classfabric_1_1CompatibilityValidation__coll__graph.png b/docs/html/classfabric_1_1CompatibilityValidation__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..0fd2d1c1303bd0e07f473224165957e215cc0e14 GIT binary patch literal 5564 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zv$M15nV4GJFg&M~85>JqxF4_g4%j?|o0|-vMR>8xw#>I!BH1KT$PviqV4chKiAb9W?mR|TWWr47_Op% z{PW{Ob?A|@+r(GEgwH|y|J~l+D0~CpOV`Lq+u8Y2i8Y=DOnVMj?A2%K9)d=Uk7qMT zl?z)d0E328V<{FB6?H=i35}e(}mN{wZRHs zyog50q+fOB1}3`XK`m{uIb#$e4B+Fjk&2x5>}K!@MKrI?Y~9^mHed^(mo zp?}m1kHI(&7u^GclpEmDueG%a$;n_{%;KVh?mN?ro>|>~btID?i3k$OC|#1o^mlgy z`K6*Fuc&BcBJ2q_%Ei?xO0=>9pk>{9Gb6XGozCFEK-f7IUmGAr#N)VI1A#;UQ;+kb zam8o&^nh8Hv8slkP$<0~7y_@imq0^9v(f($w*qEHlt?D2q;HdXs^yD)d!j+}Nfs;T z!VT-dD1*#0lcwVb)ZO!!iELr7=l(7DFpP*>TTh%3ot=x@ftV)|FU`a_Ca&-@bpXrS kp& + + + + + + +Fabric: Member List + + + + + + + + + +
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fabric::Fabric Member List
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This is the complete list of members for fabric::Fabric, including all inherited members.

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bond_client_cache_fabric::Fabricprotected
bond_id_fabric::Fabricprotected
cancel_server_fabric::Fabricprotected
CancelFabricPlan typedeffabric::Fabric
cancelPlanCallback(const std::shared_ptr< CancelFabricPlan::Request > request, std::shared_ptr< CancelFabricPlan::Response > response)fabric::Fabricinlineprotected
capability_client_fabric::Fabricprotected
capability_list_fabric::Fabricprotected
compatibility_validation_plugin_fabric::Fabricprotected
CompleteFabric typedeffabric::Fabric
completion_server_fabric::Fabricprotected
current_plan_fabric::Fabricprotected
Fabric(const rclcpp::NodeOptions &options=rclcpp::NodeOptions())fabric::Fabricinline
generate_uuid()fabric::Fabricinlineprotectedstatic
get_plan_status_server_fabric::Fabricprotected
GetPlanStatus typedeffabric::Fabric
getPlanStatusCallback(const std::shared_ptr< GetPlanStatus::Request > request, std::shared_ptr< GetPlanStatus::Response > response)fabric::Fabricinlineprotected
initialize()fabric::Fabricinline
parsing_loader_fabric::Fabricprotected
parsing_plugin_fabric::Fabricprotected
plan_completed_fabric::Fabricprotected
plan_cv_fabric::Fabricprotected
plan_file_path_fabric::Fabricprotected
plan_mutex_fabric::Fabricprotected
plan_queue_fabric::Fabricprotected
plan_server_fabric::Fabricprotected
process()fabric::Fabricinlineprotected
process_threadfabric::Fabricprotected
reset()fabric::Fabricinlineprotected
setCompleteCallback(const std::shared_ptr< CompleteFabric::Request > request, std::shared_ptr< CompleteFabric::Response > response)fabric::Fabricinlineprotected
SetFabricPlan typedeffabric::Fabric
setPlanCallback(const std::shared_ptr< SetFabricPlan::Request > request, std::shared_ptr< SetFabricPlan::Response > response)fabric::Fabricinlineprotected
status_msg(PlanStatus status) constfabric::Fabricinlineprotected
validation_loader_fabric::Fabricprotected
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+ + diff --git a/docs/html/classfabric_1_1Fabric.html b/docs/html/classfabric_1_1Fabric.html new file mode 100644 index 0000000..1037029 --- /dev/null +++ b/docs/html/classfabric_1_1Fabric.html @@ -0,0 +1,1032 @@ + + + + + + + +Fabric: fabric::Fabric Class Reference + + + + + + + + + +
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+Public Types | +Public Member Functions | +Protected Member Functions | +Static Protected Member Functions | +Protected Attributes | +List of all members
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fabric::Fabric Class Reference
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Class representing the main server of the fabric. + More...

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#include <server.hpp>

+
+Inheritance diagram for fabric::Fabric:
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+
Inheritance graph
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[legend]
+
+Collaboration diagram for fabric::Fabric:
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+
Collaboration graph
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[legend]
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+Public Types

using SetFabricPlan = fabric_msgs::srv::SetFabricPlan
 
using CancelFabricPlan = fabric_msgs::srv::CancelFabricPlan
 
using CompleteFabric = fabric_msgs::srv::CompleteFabric
 
using GetPlanStatus = fabric_msgs::srv::GetPlanStatus
 
+ + + + + + + +

+Public Member Functions

 Fabric (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
 Construct a new Fabric object.
 
void initialize ()
 Initialize the Fabric node, action server and event client.
 
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+Protected Member Functions

void process ()
 The main process thread of the fabric.
 
void setPlanCallback (const std::shared_ptr< SetFabricPlan::Request > request, std::shared_ptr< SetFabricPlan::Response > response)
 Callback function to set a new fabric plan.
 
void cancelPlanCallback (const std::shared_ptr< CancelFabricPlan::Request > request, std::shared_ptr< CancelFabricPlan::Response > response)
 Callback function to cancel a fabric plan.
 
void setCompleteCallback (const std::shared_ptr< CompleteFabric::Request > request, std::shared_ptr< CompleteFabric::Response > response)
 Callback function to set the completion of a fabric plan.
 
void getPlanStatusCallback (const std::shared_ptr< GetPlanStatus::Request > request, std::shared_ptr< GetPlanStatus::Response > response)
 Callback function to get the status of a fabric plan.
 
fabric_msgs::msg::FabricStatus status_msg (PlanStatus status) const
 Convert internal plan status to fabric_msgs/PlanStatus message.
 
void reset ()
 Reset internal data structures for processing a new plan.
 
+ + + + +

+Static Protected Member Functions

static std::string generate_uuid ()
 Generate a UUID string for plan tracking.
 
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+Protected Attributes

std::deque< fabric::Plan > plan_queue_
 
fabric::Plan current_plan_
 
bool plan_completed_
 
std::mutex plan_mutex_
 
std::condition_variable plan_cv_
 
std::shared_ptr< CapabilityClient > capability_client_
 
std::vector< CapabilityInfo > capability_list_
 
pluginlib::ClassLoader< fabric::ValidationBase > validation_loader_
 
pluginlib::ClassLoader< fabric::ParserBase > parsing_loader_
 
std::shared_ptr< fabric::ParserBase > parsing_plugin_
 
std::shared_ptr< fabric::ValidationBase > compatibility_validation_plugin_
 
std::string bond_id_
 
std::map< std::string, std::shared_ptr< BondClient > > bond_client_cache_
 
std::string plan_file_path_
 
rclcpp::Service< SetFabricPlan >::SharedPtr plan_server_
 
rclcpp::Service< CancelFabricPlan >::SharedPtr cancel_server_
 
rclcpp::Service< CompleteFabric >::SharedPtr completion_server_
 
rclcpp::Service< GetPlanStatus >::SharedPtr get_plan_status_server_
 
std::thread process_thread
 
+

Detailed Description

+

Class representing the main server of the fabric.

+

Member Typedef Documentation

+ +

◆ CancelFabricPlan

+ +
+
+ + + + +
using fabric::Fabric::CancelFabricPlan = fabric_msgs::srv::CancelFabricPlan
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+ +
+
+ +

◆ CompleteFabric

+ +
+
+ + + + +
using fabric::Fabric::CompleteFabric = fabric_msgs::srv::CompleteFabric
+
+ +
+
+ +

◆ GetPlanStatus

+ +
+
+ + + + +
using fabric::Fabric::GetPlanStatus = fabric_msgs::srv::GetPlanStatus
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+ +
+
+ +

◆ SetFabricPlan

+ +
+
+ + + + +
using fabric::Fabric::SetFabricPlan = fabric_msgs::srv::SetFabricPlan
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+ +
+
+

Constructor & Destructor Documentation

+ +

◆ Fabric()

+ +
+
+ + + + + +
+ + + + + + + + +
fabric::Fabric::Fabric (const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
+ 		+inline
+
+ +

Construct a new Fabric object.

+
Parameters
+ + +
optionsNode options for the Fabric node
+
+
+ +
+
+

Member Function Documentation

+ +

◆ cancelPlanCallback()

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+
+ + + + + +
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void fabric::Fabric::cancelPlanCallback (const std::shared_ptr< CancelFabricPlan::Request > request,
std::shared_ptr< CancelFabricPlan::Response > response 
)
+ 		+inlineprotected
+
+ +

Callback function to cancel a fabric plan.

+ +
+
+ +

◆ generate_uuid()

+ +
+
+ + + + + +
+ + + + + + + +
static std::string fabric::Fabric::generate_uuid ()
+ 		+inlinestaticprotected
+
+ +

Generate a UUID string for plan tracking.

+ +
+
+ +

◆ getPlanStatusCallback()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void fabric::Fabric::getPlanStatusCallback (const std::shared_ptr< GetPlanStatus::Request > request,
std::shared_ptr< GetPlanStatus::Response > response 
)
+ 		+inlineprotected
+
+ +

Callback function to get the status of a fabric plan.

+ +
+
+ +

◆ initialize()

+ +
+
+ + + + + +
+ + + + + + + +
void fabric::Fabric::initialize ()
+ 		+inline
+
+ +

Initialize the Fabric node, action server and event client.

+ +
+
+ +

◆ process()

+ +
+
+ + + + + +
+ + + + + + + +
void fabric::Fabric::process ()
+ 		+inlineprotected
+
+ +

The main process thread of the fabric.

+ +
+
+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + +
void fabric::Fabric::reset ()
+ 		+inlineprotected
+
+ +

Reset internal data structures for processing a new plan.

+ +
+
+ +

◆ setCompleteCallback()

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+
+ + + + + +
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void fabric::Fabric::setCompleteCallback (const std::shared_ptr< CompleteFabric::Request > request,
std::shared_ptr< CompleteFabric::Response > response 
)
+ 		+inlineprotected
+
+ +

Callback function to set the completion of a fabric plan.

+ +
+
+ +

◆ setPlanCallback()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void fabric::Fabric::setPlanCallback (const std::shared_ptr< SetFabricPlan::Request > request,
std::shared_ptr< SetFabricPlan::Response > response 
)
+ 		+inlineprotected
+
+ +

Callback function to set a new fabric plan.

+ +
+
+ +

◆ status_msg()

+ +
+
+ + + + + +
+ + + + + + + + +
fabric_msgs::msg::FabricStatus fabric::Fabric::status_msg (PlanStatus status) const
+ 		+inlineprotected
+
+ +

Convert internal plan status to fabric_msgs/PlanStatus message.

+ +
+
+

Member Data Documentation

+ +

◆ bond_client_cache_

+ +
+
+ + + + + +
+ + + + +
std::map<std::string, std::shared_ptr<BondClient> > fabric::Fabric::bond_client_cache_
+ 		+protected
+
+

Manages bond between capabilities server and this client

+ +
+
+ +

◆ bond_id_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::Fabric::bond_id_
+ 		+protected
+
+

Bond id

+ +
+
+ +

◆ cancel_server_

+ +
+
+ + + + + +
+ + + + +
rclcpp::Service<CancelFabricPlan>::SharedPtr fabric::Fabric::cancel_server_
+ 		+protected
+
+

server to cancel the current plan in the capabilities2 fabric

+ +
+
+ +

◆ capability_client_

+ +
+
+ + + + + +
+ + + + +
std::shared_ptr<CapabilityClient> fabric::Fabric::capability_client_
+ 		+protected
+
+

Capability client to interact with capability server

+ +
+
+ +

◆ capability_list_

+ +
+
+ + + + + +
+ + + + +
std::vector<CapabilityInfo> fabric::Fabric::capability_list_
+ 		+protected
+
+

Capability List

+ +
+
+ +

◆ compatibility_validation_plugin_

+ +
+
+ + + + + +
+ + + + +
std::shared_ptr<fabric::ValidationBase> fabric::Fabric::compatibility_validation_plugin_
+ 		+protected
+
+

shared pointer for compatibility validation plugin

+ +
+
+ +

◆ completion_server_

+ +
+
+ + + + + +
+ + + + +
rclcpp::Service<CompleteFabric>::SharedPtr fabric::Fabric::completion_server_
+ 		+protected
+
+

server to get the status of the capabilities2 fabric

+ +
+
+ +

◆ current_plan_

+ +
+
+ + + + + +
+ + + + +
fabric::Plan fabric::Fabric::current_plan_
+ 		+protected
+
+

Current plan being processed

+ +
+
+ +

◆ get_plan_status_server_

+ +
+
+ + + + + +
+ + + + +
rclcpp::Service<GetPlanStatus>::SharedPtr fabric::Fabric::get_plan_status_server_
+ 		+protected
+
+

server to get the status of a fabric plan

+ +
+
+ +

◆ parsing_loader_

+ +
+
+ + + + + +
+ + + + +
pluginlib::ClassLoader<fabric::ParserBase> fabric::Fabric::parsing_loader_
+ 		+protected
+
+ +
+
+ +

◆ parsing_plugin_

+ +
+
+ + + + + +
+ + + + +
std::shared_ptr<fabric::ParserBase> fabric::Fabric::parsing_plugin_
+ 		+protected
+
+

shared pointer for parsing plugin

+ +
+
+ +

◆ plan_completed_

+ +
+
+ + + + + +
+ + + + +
bool fabric::Fabric::plan_completed_
+ 		+protected
+
+

Current plan related synchronization

+ +
+
+ +

◆ plan_cv_

+ +
+
+ + + + + +
+ + + + +
std::condition_variable fabric::Fabric::plan_cv_
+ 		+protected
+
+ +
+
+ +

◆ plan_file_path_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::Fabric::plan_file_path_
+ 		+protected
+
+

File Path link

+ +
+
+ +

◆ plan_mutex_

+ +
+
+ + + + + +
+ + + + +
std::mutex fabric::Fabric::plan_mutex_
+ 		+protected
+
+ +
+
+ +

◆ plan_queue_

+ +
+
+ + + + + +
+ + + + +
std::deque<fabric::Plan> fabric::Fabric::plan_queue_
+ 		+protected
+
+

Vector of plans

+ +
+
+ +

◆ plan_server_

+ +
+
+ + + + + +
+ + + + +
rclcpp::Service<SetFabricPlan>::SharedPtr fabric::Fabric::plan_server_
+ 		+protected
+
+

server to set a new plan to the capabilities2 fabric

+ +
+
+ +

◆ process_thread

+ +
+
+ + + + + +
+ + + + +
std::thread fabric::Fabric::process_thread
+ 		+protected
+
+

Thread to manage sending goal

+ +
+
+ +

◆ validation_loader_

+ +
+
+ + + + + +
+ + + + +
pluginlib::ClassLoader<fabric::ValidationBase> fabric::Fabric::validation_loader_
+ 		+protected
+
+

Plugin loaders for each module package

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • fabric_server/include/fabric_server/server.hpp
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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fabric::ParserBase Member List
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+ +

This is the complete list of members for fabric::ParserBase, including all inherited members.

+ + + + + + + + + +
check_compatibility(const fabric::Plan &plan)=0fabric::ParserBasepure virtual
initialize(const rclcpp::Node::SharedPtr &node)fabric::ParserBaseinlinevirtual
initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)fabric::ParserBaseinlineprotected
load_file(const std::string &file_path, fabric::Plan &plan)=0fabric::ParserBasepure virtual
node_fabric::ParserBaseprotected
parse(fabric::Plan &plan)=0fabric::ParserBasepure virtual
plugin_name_fabric::ParserBaseprotected
~ParserBase()=defaultfabric::ParserBasevirtual
+ +
+Generated by doxygen 1.9.8 +
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+Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
+
fabric::ParserBase Class Referenceabstract
+
+
+ +

Abstract base class for XML plan parsing plugins. + More...

+ +

#include <parser_base.hpp>

+
+Inheritance diagram for fabric::ParserBase:
+
+
Inheritance graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + +

+Public Member Functions

virtual ~ParserBase ()=default
 
virtual void initialize (const rclcpp::Node::SharedPtr &node)
 Initialize the validation plugin with the given ROS2 node.
 
virtual bool load_file (const std::string &file_path, fabric::Plan &plan)=0
 load a file into an XML document
 
virtual void parse (fabric::Plan &plan)=0
 Parse the given XML plan.
 
virtual bool check_compatibility (const fabric::Plan &plan)=0
 Check the compatibility of the given plan with the given parser.
 
+ + + + +

+Protected Member Functions

void initialize_base (const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
 Base initialization method for derived classes.
 
+ + + + + + + +

+Protected Attributes

rclcpp::Node::SharedPtr node_
 Shared pointer to the ROS2 node.
 
std::string plugin_name_
 Name of the validation plugin.
 
+

Detailed Description

+

Abstract base class for XML plan parsing plugins.

+

Implementations should provide a parse() method that extracts information from the XML plan and return a fabric::Plan object.

+

Constructor & Destructor Documentation

+ +

◆ ~ParserBase()

+ +
+
+ + + + + +
+ + + + + + + +
virtual fabric::ParserBase::~ParserBase ()
+ 		+virtualdefault
+
+ +
+
+

Member Function Documentation

+ +

◆ check_compatibility()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual bool fabric::ParserBase::check_compatibility (const fabric::Plan & plan)
+ 		+pure virtual
+
+ +

Check the compatibility of the given plan with the given parser.

+
Parameters
+ + +
planThe plan to check for compatibility.
+
+
+
Returns
true if the plan is compatible, false otherwise.
+ +

Implemented in fabric::XMLParser.

+ +
+
+ +

◆ initialize()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void fabric::ParserBase::initialize (const rclcpp::Node::SharedPtr & node)
+ 		+inlinevirtual
+
+ +

Initialize the validation plugin with the given ROS2 node.

+
Parameters
+ + +
nodeShared pointer to the ROS2 node.
+
+
+
Returns
true if initialization was successful, false otherwise.
+ +

Reimplemented in fabric::XMLParser.

+ +
+
+ +

◆ initialize_base()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void fabric::ParserBase::initialize_base (const rclcpp::Node::SharedPtr & node,
const std::string & plugin_name 
)
+ 		+inlineprotected
+
+ +

Base initialization method for derived classes.

+
Parameters
+ + + +
nodeShared pointer to the ROS2 node.
plugin_nameName of the validation plugin.
+
+
+ +
+
+ +

◆ load_file()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool fabric::ParserBase::load_file (const std::string & file_path,
fabric::Plan & plan 
)
+ 		+pure virtual
+
+ +

load a file into an XML document

+
Parameters
+ + +
documentThe path to the XML file to be loaded
+
+
+
Returns
true if the file was loaded successfully, false otherwise
+ +

Implemented in fabric::XMLParser.

+ +
+
+ +

◆ parse()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void fabric::ParserBase::parse (fabric::Plan & plan)
+ 		+pure virtual
+
+ +

Parse the given XML plan.

+
Parameters
+ + + +
documentThe XMLDocument representing the plan.
planThe parsed plan.
+
+
+ +

Implemented in fabric::XMLParser.

+ +
+
+

Member Data Documentation

+ +

◆ node_

+ +
+
+ + + + + +
+ + + + +
rclcpp::Node::SharedPtr fabric::ParserBase::node_
+ 		+protected
+
+ +

Shared pointer to the ROS2 node.

+ +
+
+ +

◆ plugin_name_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::ParserBase::plugin_name_
+ 		+protected
+
+ +

Name of the validation plugin.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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fabric::ValidationBase Member List
+
+
+ +

This is the complete list of members for fabric::ValidationBase, including all inherited members.

+ + + + + + + +
initialize(const rclcpp::Node::SharedPtr &node)fabric::ValidationBaseinlinevirtual
initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)fabric::ValidationBaseinlineprotected
node_fabric::ValidationBaseprotected
plugin_name_fabric::ValidationBaseprotected
validate(fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities)=0fabric::ValidationBasepure virtual
~ValidationBase()=defaultfabric::ValidationBasevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/classfabric_1_1ValidationBase.html b/docs/html/classfabric_1_1ValidationBase.html new file mode 100644 index 0000000..be261f1 --- /dev/null +++ b/docs/html/classfabric_1_1ValidationBase.html @@ -0,0 +1,342 @@ + + + + + + + +Fabric: fabric::ValidationBase Class Reference + + + + + + + + + +
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+ + + + + + +
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+Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
+
fabric::ValidationBase Class Referenceabstract
+
+
+ +

Abstract base class for XML plan validation plugins. + More...

+ +

#include <validation_base.hpp>

+
+Inheritance diagram for fabric::ValidationBase:
+
+
Inheritance graph
+ + + + + +
[legend]
+ + + + + + + + + + +

+Public Member Functions

virtual ~ValidationBase ()=default
 
virtual void initialize (const rclcpp::Node::SharedPtr &node)
 Initialize the validation plugin with the given ROS2 node.
 
virtual void validate (fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities)=0
 Validate the given XML plan.
 
+ + + + +

+Protected Member Functions

void initialize_base (const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
 Base initialization method for derived classes.
 
+ + + + + + + +

+Protected Attributes

rclcpp::Node::SharedPtr node_
 Shared pointer to the ROS2 node.
 
std::string plugin_name_
 Name of the validation plugin.
 
+

Detailed Description

+

Abstract base class for XML plan validation plugins.

+

Implementations should provide a validate() method that checks the XML plan for errors.

+

Constructor & Destructor Documentation

+ +

◆ ~ValidationBase()

+ +
+
+ + + + + +
+ + + + + + + +
virtual fabric::ValidationBase::~ValidationBase ()
+ 		+virtualdefault
+
+ +
+
+

Member Function Documentation

+ +

◆ initialize()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void fabric::ValidationBase::initialize (const rclcpp::Node::SharedPtr & node)
+ 		+inlinevirtual
+
+ +

Initialize the validation plugin with the given ROS2 node.

+
Parameters
+ + +
nodeShared pointer to the ROS2 node.
+
+
+ +

Reimplemented in fabric::CompatibilityValidation.

+ +
+
+ +

◆ initialize_base()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void fabric::ValidationBase::initialize_base (const rclcpp::Node::SharedPtr & node,
const std::string & plugin_name 
)
+ 		+inlineprotected
+
+ +

Base initialization method for derived classes.

+
Parameters
+ + + +
nodeShared pointer to the ROS2 node.
plugin_nameName of the validation plugin.
+
+
+ +
+
+ +

◆ validate()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void fabric::ValidationBase::validate (fabric::Plan & plan,
std::vector< CapabilityInfo > & capabilities 
)
+ 		+pure virtual
+
+ +

Validate the given XML plan.

+
Parameters
+ + + +
planThe fabric::Plan to validate.
capabilitiesSupport data for evaluation as a vector of fabric::CapabilityInfo.
+
+
+ +

Implemented in fabric::CompatibilityValidation.

+ +
+
+

Member Data Documentation

+ +

◆ node_

+ +
+
+ + + + + +
+ + + + +
rclcpp::Node::SharedPtr fabric::ValidationBase::node_
+ 		+protected
+
+ +

Shared pointer to the ROS2 node.

+ +
+
+ +

◆ plugin_name_

+ +
+
+ + + + + +
+ + + + +
std::string fabric::ValidationBase::plugin_name_
+ 		+protected
+
+ +

Name of the validation plugin.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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fabric::XMLParser Member List
+
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+ +

This is the complete list of members for fabric::XMLParser, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + +
add_completion_runner(tinyxml2::XMLDocument &document, const std::string &plan_id)fabric::XMLParserinlineprotected
add_parallel_all(fabric::Plan &plan, int connection_id=0, std::string description="")fabric::XMLParserinlineprotected
add_parallel_any(fabric::Plan &plan, int connection_id=0, std::string description="")fabric::XMLParserinlineprotected
check_compatibility(const fabric::Plan &plan) overridefabric::XMLParserinlinevirtual
check_syntax(tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)fabric::XMLParserinlineprotected
control_listfabric::XMLParserprotected
convert_to_string(tinyxml2::XMLDocument &document_xml, std::string &document_string)fabric::XMLParserinlineprotected
convert_to_string(tinyxml2::XMLElement *element, std::string &parameters)fabric::XMLParserinlineprotected
convert_xml_to_event_parameters(tinyxml2::XMLElement *element)fabric::XMLParserinlineprotected
current_document_fabric::XMLParserprotected
default_documentfabric::XMLParserprotected
extract_connections(tinyxml2::XMLElement *element, fabric::Plan &plan, int connection_id=0, fabric::event connection_type=fabric::event::ON_SUCCESS, std::string conn_description="")fabric::XMLParserinlineprotected
extract_plan(tinyxml2::XMLDocument &document)fabric::XMLParserinlineprotected
initialize(const rclcpp::Node::SharedPtr &node) overridefabric::XMLParserinlinevirtual
initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)fabric::ParserBaseinlineprotected
load_file(const std::string &file_path, fabric::Plan &plan) overridefabric::XMLParserinlinevirtual
node_fabric::ParserBaseprotected
parse(fabric::Plan &plan) overridefabric::XMLParserinlinevirtual
plan_fabric::XMLParserprotected
plugin_name_fabric::ParserBaseprotected
runner_indexfabric::XMLParserprotected
search(std::vector< std::string > list, std::string value)fabric::XMLParserinlineprotected
system_docfabric::XMLParserprotected
XMLParser()=defaultfabric::XMLParser
~ParserBase()=defaultfabric::ParserBasevirtual
~XMLParser()=defaultfabric::XMLParservirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/classfabric_1_1XMLParser.html b/docs/html/classfabric_1_1XMLParser.html new file mode 100644 index 0000000..32bdf44 --- /dev/null +++ b/docs/html/classfabric_1_1XMLParser.html @@ -0,0 +1,1054 @@ + + + + + + + +Fabric: fabric::XMLParser Class Reference + + + + + + + + + +
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+Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
+
fabric::XMLParser Class Reference
+
+
+ +

Syntax validation plugin for XML plans. + More...

+ +

#include <xml_parser_plugin.hpp>

+
+Inheritance diagram for fabric::XMLParser:
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+
Inheritance graph
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[legend]
+
+Collaboration diagram for fabric::XMLParser:
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[legend]
+ + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 XMLParser ()=default
 
virtual ~XMLParser ()=default
 
void initialize (const rclcpp::Node::SharedPtr &node) override
 Initialize the XML parser plugin.
 
bool load_file (const std::string &file_path, fabric::Plan &plan) override
 load a file into an XML document
 
bool check_compatibility (const fabric::Plan &plan) override
 Check the compatibility of the given plan with the given parser.
 
void parse (fabric::Plan &plan) override
 Parse the given XML plan.
 
- Public Member Functions inherited from fabric::ParserBase
virtual ~ParserBase ()=default
 
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+Protected Member Functions

void convert_to_string (tinyxml2::XMLDocument &document_xml, std::string &document_string)
 convert XMLDocument to std::string
 
bool search (std::vector< std::string > list, std::string value)
 search a string in a vector of strings
 
tinyxml2::XMLElement * extract_plan (tinyxml2::XMLDocument &document)
 Extract the <Plan> element from the XML document.
 
bool convert_to_string (tinyxml2::XMLElement *element, std::string &parameters)
 convert XMLElement to std::string
 
bool check_syntax (tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
 check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan
 
void add_completion_runner (tinyxml2::XMLDocument &document, const std::string &plan_id)
 add a completion runner to the plan This function adds a new <Control> element with type "sequential" and a <Runner> element for the completion runner to the existing <Plan> element in the XML document.
 
int add_parallel_all (fabric::Plan &plan, int connection_id=0, std::string description="")
 Adds a system connection for parallel input multiplexing with waiting for all inputs.
 
int add_parallel_any (fabric::Plan &plan, int connection_id=0, std::string description="")
 Adds a system connection for parallel input multiplexing with waiting for any inputs.
 
capabilities2_events::EventParameters convert_xml_to_event_parameters (tinyxml2::XMLElement *element)
 Check and update the system runner id for the successor based on the predecessor's id.
 
int extract_connections (tinyxml2::XMLElement *element, fabric::Plan &plan, int connection_id=0, fabric::event connection_type=fabric::event::ON_SUCCESS, std::string conn_description="")
 parse through the plan and extract the connections
 
- Protected Member Functions inherited from fabric::ParserBase
void initialize_base (const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
 Base initialization method for derived classes.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Attributes

std::vector< std::string > control_list
 List of valid control tags.
 
tinyxml2::XMLDocument system_doc
 XML Document for system runners.
 
int runner_index = 0
 Index for assigning unique IDs to system runners.
 
tinyxml2::XMLElement * plan_ = nullptr
 Pointer to the plan element in the XML document.
 
tinyxml2::XMLDocument default_document
 Default XML document for loading from file.
 
tinyxml2::XMLDocument current_document_
 XML Document to hold the current plan.
 
- Protected Attributes inherited from fabric::ParserBase
rclcpp::Node::SharedPtr node_
 Shared pointer to the ROS2 node.
 
std::string plugin_name_
 Name of the validation plugin.
 
+

Detailed Description

+

Syntax validation plugin for XML plans.

+

This plugin checks the XML plan for basic syntax errors (well-formedness, root tag, etc).

+

Constructor & Destructor Documentation

+ +

◆ XMLParser()

+ +
+
+ + + + + +
+ + + + + + + +
fabric::XMLParser::XMLParser ()
+ 		+default
+
+ +
+
+ +

◆ ~XMLParser()

+ +
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+ + + + + + + +
virtual fabric::XMLParser::~XMLParser ()
+ 		+virtualdefault
+
+ +
+
+

Member Function Documentation

+ +

◆ add_completion_runner()

+ +
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+ + + + + + + + + + + + + + + + + + +
void fabric::XMLParser::add_completion_runner (tinyxml2::XMLDocument & document,
const std::string & plan_id 
)
+ 		+inlineprotected
+
+ +

add a completion runner to the plan This function adds a new <Control> element with type "sequential" and a <Runner> element for the completion runner to the existing <Plan> element in the XML document.

+
Parameters
+ + + +
documentXML document to which the completion runner will be added
plan_idID of the plan to be associated with the completion runner
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+ +
+
+ +

◆ add_parallel_all()

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int fabric::XMLParser::add_parallel_all (fabric::Plan & plan,
int connection_id = 0,
std::string description = "" 
)
+ 		+inlineprotected
+
+ +

Adds a system connection for parallel input multiplexing with waiting for all inputs.

+
Parameters
+ + + + +
connectionsfabric::Plan containing connections
connection_idconnection id to be used for the new connection
descriptiondescription of the connection
+
+
+
Returns
int next connection id
+ +
+
+ +

◆ add_parallel_any()

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int fabric::XMLParser::add_parallel_any (fabric::Plan & plan,
int connection_id = 0,
std::string description = "" 
)
+ 		+inlineprotected
+
+ +

Adds a system connection for parallel input multiplexing with waiting for any inputs.

+
Parameters
+ + + + +
planfabric::Plan containing connections
connection_idconnection id to be used for the new connection
descriptiondescription of the connection
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+
Returns
int next connection id
+ +
+
+ +

◆ check_compatibility()

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+ + + + + +
+ + + + + + + + +
bool fabric::XMLParser::check_compatibility (const fabric::Plan & plan)
+ 		+inlineoverridevirtual
+
+ +

Check the compatibility of the given plan with the given parser.

+
Parameters
+ + +
planThe plan to check for compatibility.
+
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+
Returns
true if the plan is compatible, false otherwise.
+ +

Implements fabric::ParserBase.

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+ +

◆ check_syntax()

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bool fabric::XMLParser::check_syntax (tinyxml2::XMLElement * element,
std::vector< std::string > & control_list,
std::vector< std::string > & rejected,
std::string & error 
)
+ 		+inlineprotected
+
+ +

check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan

+
Parameters
+ + + + + +
elementXML Element to be evaluated
control_listlist of valid control tags
rejectedlist containing invalid tags
erroroutput string for error messages
+
+
+
Returns
true if element valid and supported and false otherwise
+ +
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+ +

◆ convert_to_string() [1/2]

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void fabric::XMLParser::convert_to_string (tinyxml2::XMLDocument & document_xml,
std::string & document_string 
)
+ 		+inlineprotected
+
+ +

convert XMLDocument to std::string

+
Parameters
+ + +
documentelement to be converted
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+
+
Returns
std::string converted document
+ +
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+ +

◆ convert_to_string() [2/2]

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bool fabric::XMLParser::convert_to_string (tinyxml2::XMLElement * element,
std::string & parameters 
)
+ 		+inlineprotected
+
+ +

convert XMLElement to std::string

+
Parameters
+ + + +
elementXMLElement element to be converted
paramtersparameter to hold std::string
+
+
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Returns
true if element is not nullptr and conversion successful, false if element is nullptr
+ +
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+ +

◆ convert_xml_to_event_parameters()

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capabilities2_events::EventParameters fabric::XMLParser::convert_xml_to_event_parameters (tinyxml2::XMLElement * element)
+ 		+inlineprotected
+
+ +

Check and update the system runner id for the successor based on the predecessor's id.

+

This function checks if the predecessor is a system runner and has parameters. If so, it updates the successor's parameters with the predecessor's id.

+
Parameters
+ + + +
predecessorThe predecessor node_t containing the source runner
successorThe successor node_t to be updated
+
+
+

convert tinyxml2::XMLElement attributes to EventParameters. Treats the original attributes as string and let the runners that they are related to handle the conversion from string to correct data type

+
Parameters
+ + +
elementtinyxml2::XMLElement element to be converted.
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Returns
capabilities2_events::EventParameters converted parameters
+ +
+
+ +

◆ extract_connections()

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int fabric::XMLParser::extract_connections (tinyxml2::XMLElement * element,
fabric::Plan & plan,
int connection_id = 0,
fabric::event connection_type = fabric::event::ON_SUCCESS,
std::string conn_description = "" 
)
+ 		+inlineprotected
+
+ +

parse through the plan and extract the connections

+
Parameters
+ + + +
elementXML Element to be evaluated
connectionsstd::map containing extracted connections
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+ +
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+ +

◆ extract_plan()

+ +
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+ + + + + +
+ + + + + + + + +
tinyxml2::XMLElement * fabric::XMLParser::extract_plan (tinyxml2::XMLDocument & document)
+ 		+inlineprotected
+
+ +

Extract the <Plan> element from the XML document.

+

This function checks if the root element of the provided XML document is <Plan>. If so, it returns the first child element of <Plan>. Otherwise, it indicates failure.

+
Parameters
+ + +
documentThe XMLDocument to extract the plan from
+
+
+
Returns
tinyxml2::XMLElement* Pointer to the first child of <Plan> if successful, nullptr otherwise
+ +
+
+ +

◆ initialize()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::XMLParser::initialize (const rclcpp::Node::SharedPtr & node)
+ 		+inlineoverridevirtual
+
+ +

Initialize the XML parser plugin.

+
Parameters
+ + +
nodeShared pointer to the ROS2 node.
+
+
+ +

Reimplemented from fabric::ParserBase.

+ +
+
+ +

◆ load_file()

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+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool fabric::XMLParser::load_file (const std::string & file_path,
fabric::Plan & plan 
)
+ 		+inlineoverridevirtual
+
+ +

load a file into an XML document

+
Parameters
+ + +
documentThe path to the XML file to be loaded
+
+
+
Returns
true if the file was loaded successfully, false otherwise
+ +

Implements fabric::ParserBase.

+ +
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+ +

◆ parse()

+ +
+
+ + + + + +
+ + + + + + + + +
void fabric::XMLParser::parse (fabric::Plan & plan)
+ 		+inlineoverridevirtual
+
+ +

Parse the given XML plan.

+
Parameters
+ + + +
documentThe XMLDocument representing the plan.
planThe parsed plan.
+
+
+ +

Implements fabric::ParserBase.

+ +
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+ +

◆ search()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool fabric::XMLParser::search (std::vector< std::string > list,
std::string value 
)
+ 		+inlineprotected
+
+ +

search a string in a vector of strings

+
Parameters
+ + + +
listvector of strings to be searched
valuestring to be searched in the vector
+
+
+
Returns
true if value is found in list and false otherwise
+ +
+
+

Member Data Documentation

+ +

◆ control_list

+ +
+
+ + + + + +
+ + + + +
std::vector<std::string> fabric::XMLParser::control_list
+ 		+protected
+
+ +

List of valid control tags.

+ +
+
+ +

◆ current_document_

+ +
+
+ + + + + +
+ + + + +
tinyxml2::XMLDocument fabric::XMLParser::current_document_
+ 		+protected
+
+ +

XML Document to hold the current plan.

+ +
+
+ +

◆ default_document

+ +
+
+ + + + + +
+ + + + +
tinyxml2::XMLDocument fabric::XMLParser::default_document
+ 		+protected
+
+ +

Default XML document for loading from file.

+ +
+
+ +

◆ plan_

+ +
+
+ + + + + +
+ + + + +
tinyxml2::XMLElement* fabric::XMLParser::plan_ = nullptr
+ 		+protected
+
+ +

Pointer to the plan element in the XML document.

+ +
+
+ +

◆ runner_index

+ +
+
+ + + + + +
+ + + + +
int fabric::XMLParser::runner_index = 0
+ 		+protected
+
+ +

Index for assigning unique IDs to system runners.

+ +
+
+ +

◆ system_doc

+ +
+
+ + + + + +
+ + + + +
tinyxml2::XMLDocument fabric::XMLParser::system_doc
+ 		+protected
+
+ +

XML Document for system runners.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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+
+ + + + + + +
+
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+Classes | +Namespaces
+
compatibility_plugin.hpp File Reference
+
+
+
#include <string>
+#include <vector>
+#include <tinyxml2.h>
+#include <rclcpp/rclcpp.hpp>
+#include <fabric_base/validation_base.hpp>
+
+Include dependency graph for compatibility_plugin.hpp:
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+This graph shows which files directly or indirectly include this file:
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+

Go to the source code of this file.

+ + + + + +

+Classes

class  fabric::CompatibilityValidation
 Syntax validation plugin for XML plans. More...
 
+ + + +

+Namespaces

namespace  fabric
 
+
+ +
+Generated by doxygen 1.9.8 +
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zSZduFi^a<7=#VEQB*4$F&*;-yLNN>;DFte5R(5s@9v*zRZr#EOkBmH+w9ngv`V_K6 z377MI79Er%^mYxEzVYK-wXLI*69%Btmk0=$xVU1WK?DUfs!i!lF0FF;b^Dev2SFrD z&jVv`vFsA{u0^hK0_Rrsy6fnu~M{lg7rk|mL z2qM2d8r5_E6jec*N=Z$9wWy>-^r47xHe_4&I`i3g{77VFyY2T3;@Nq5Yw8+q7)Ph= z!e#fjBpL7&FKJ8jyk@Ab$lP#UZy|im)85$VvkI>N>K#U&q$f|_TWD@hL8< zz)fpz@?=uRD|o-IJGfz7opy*^$R#2&QuHCUkJrP8>>L~=m`wu%1IS%OWD>%^jty@t zzAdkwOZz`dQK$;Q{{Sz^TMqyL literal 0 HcmV?d00001 diff --git a/docs/html/compatibility__plugin_8hpp_source.html b/docs/html/compatibility__plugin_8hpp_source.html new file mode 100644 index 0000000..17f5141 --- /dev/null +++ b/docs/html/compatibility__plugin_8hpp_source.html @@ -0,0 +1,173 @@ + + + + + + + +Fabric: fabric_validator/include/fabric_validator/compatibility_plugin.hpp Source File + + + + + + + + + +

+
+ + + + + + +
+
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+
compatibility_plugin.hpp
+
+
+Go to the documentation of this file.
1#pragma once
+
2#include <string>
+
3#include <vector>
+
4#include <tinyxml2.h>
+
5#include <rclcpp/rclcpp.hpp>
+
6#include <fabric_base/validation_base.hpp>
+
7
+
8namespace fabric
+
9{
+
+
15class CompatibilityValidation : public ValidationBase
+
16{
+
17public:
+
18 CompatibilityValidation() = default;
+
19 virtual ~CompatibilityValidation() = default;
+
20
+
+
24 void initialize(const rclcpp::Node::SharedPtr& node) override
+
25 {
+
26 initialize_base(node, "CompatibilityValidationPlugin");
+
27 }
+
+
28
+
+
35 void validate(fabric::Plan& plan, std::vector<CapabilityInfo>& capabilities) override
+
36 {
+
37 // Iterate through the plan and check whether each connection's interface and provider are matched in
+
38 // the provided CapabilityInfo data. If a provider is not matched, it could be in alternative providers.
+
39
+
40 for (const auto& [id, connection] : plan.connections)
+
41 {
+
42 bool source_matched = false;
+
43
+
44 // Check source node
+
45 for (const auto& cap : capabilities)
+
46 {
+
47 if (connection.source.interface == cap.interface)
+
48 {
+
49 if (connection.source.provider == cap.provider)
+
50 {
+
51 source_matched = true;
+
52 break;
+
53 }
+
54 else
+
55 {
+
56 // Check alternative providers
+
57 if (std::find(cap.alt_providers.begin(), cap.alt_providers.end(), connection.source.provider) != cap.alt_providers.end())
+
58 {
+
59 source_matched = true;
+
60 break;
+
61 }
+
62 }
+
63 }
+
64 }
+
65
+
66 if (!source_matched)
+
67 {
+
68 throw fabric::fabric_exception("Unmatched interface: " + connection.source.interface + " provider: " + connection.source.provider +
+
69 " combination");
+
70 }
+
71 }
+
72 }
+
+
73};
+
+
74} // namespace fabric
+
fabric::CompatibilityValidation
Syntax validation plugin for XML plans.
Definition compatibility_plugin.hpp:16
+
fabric::CompatibilityValidation::validate
void validate(fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities) override
Validate the given XML plan for compatibility.
Definition compatibility_plugin.hpp:35
+
fabric::CompatibilityValidation::~CompatibilityValidation
virtual ~CompatibilityValidation()=default
+ +
fabric::CompatibilityValidation::initialize
void initialize(const rclcpp::Node::SharedPtr &node) override
Initialize the syntax validation plugin.
Definition compatibility_plugin.hpp:24
+
fabric::ValidationBase
Abstract base class for XML plan validation plugins.
Definition validation_base.hpp:19
+
fabric::ValidationBase::initialize_base
void initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
Base initialization method for derived classes.
Definition validation_base.hpp:48
+
fabric
Definition parser_base.hpp:9
+
fabric::Plan
Definition structs.hpp:70
+
fabric::Plan::connections
std::map< int, connection > connections
Definition structs.hpp:74
+
fabric::connection
Structure representing connections between nodes.
Definition structs.hpp:42
+
fabric::connection::source
node source
Definition structs.hpp:43
+
fabric::fabric_exception
Base class for driver exceptions.
Definition exception.hpp:14
+
fabric::node
Structure representing a node in the fabric.
Definition structs.hpp:26
+
fabric::node::provider
std::string provider
Definition structs.hpp:28
+
fabric::node::interface
std::string interface
Definition structs.hpp:27
+
validation_base.hpp
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/dir_000002_000017.html b/docs/html/dir_000002_000017.html new file mode 100644 index 0000000..e2a22f4 --- /dev/null +++ b/docs/html/dir_000002_000017.html @@ -0,0 +1,82 @@ + + + + + + + +Fabric: fabric_base/include/fabric_base -> utils Relation + + + + + + + + + +
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fabric_base → utils Relation

File in fabric_base/include/fabric_baseIncludes file in fabric_base/include/fabric_base/utils
parser_base.hppstructs.hpp
parser_base.hppxml_helper.hpp
validation_base.hppexception.hpp
validation_base.hppstructs.hpp
validation_base.hppxml_helper.hpp
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+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/dir_000004_000001.html b/docs/html/dir_000004_000001.html new file mode 100644 index 0000000..481739e --- /dev/null +++ b/docs/html/dir_000004_000001.html @@ -0,0 +1,82 @@ + + + + + + + +Fabric: fabric_parser_xml/include/fabric_parser_xml -> fabric_base Relation + + + + + + + + + +
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fabric_parser_xml → fabric_base Relation

File in fabric_parser_xml/include/fabric_parser_xmlIncludes file in fabric_base
xml_parser_plugin.hppinclude / fabric_base / parser_base.hpp
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File in fabric_server/include/fabric_serverIncludes file in fabric_base
capability_client.hppinclude / fabric_base / utils / exception.hpp
capability_client.hppinclude / fabric_base / utils / structs.hpp
capability_client.hppinclude / fabric_base / utils / xml_helper.hpp
server.hppinclude / fabric_base / parser_base.hpp
server.hppinclude / fabric_base / utils / structs.hpp
server.hppinclude / fabric_base / validation_base.hpp
server.hppinclude / fabric_base / utils / xml_helper.hpp
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compatibility_plugin.hppinclude / fabric_base / validation_base.hpp
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include → fabric_base Relation

File in fabric_parser_xml/includeIncludes file in fabric_base
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include → fabric_base Relation

File in fabric_server/includeIncludes file in fabric_base
fabric_server / capability_client.hppinclude / fabric_base / utils / exception.hpp
fabric_server / capability_client.hppinclude / fabric_base / utils / structs.hpp
fabric_server / capability_client.hppinclude / fabric_base / utils / xml_helper.hpp
fabric_server / server.hppinclude / fabric_base / parser_base.hpp
fabric_server / server.hppinclude / fabric_base / utils / structs.hpp
fabric_server / server.hppinclude / fabric_base / validation_base.hpp
fabric_server / server.hppinclude / fabric_base / utils / xml_helper.hpp
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include → fabric_base Relation

File in fabric_validator/includeIncludes file in fabric_base
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src → include Relation

File in fabric_validator/srcIncludes file in fabric_validator/include
validators.cppfabric_validator / compatibility_plugin.hpp
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+Files

 bond_client.hpp
 
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 server.hpp
 
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+ +
+Generated by doxygen 1.9.8 +
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include Directory Reference
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+
+
+Directory dependency graph for include:
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+
fabric_parser_xml/include
+ + + + + + + + +
+ + + + +

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 fabric_parser_xml
 
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fabric_parser_xml/src
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 parser.cpp
 
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fabric_validator/src
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 validators.cpp
 
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 include
 
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fabric_parser_xml Directory Reference
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fabric_parser_xml Directory Reference
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+Directory dependency graph for fabric_parser_xml:
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fabric_parser_xml/include/fabric_parser_xml
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+Files

 xml_parser_plugin.hpp
 
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+Generated by doxygen 1.9.8 +
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utils Directory Reference
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+Directory dependency graph for utils:
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fabric_base/include/fabric_base/utils
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+Files

 exception.hpp
 
 structs.hpp
 
 xml_helper.hpp
 
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+Generated by doxygen 1.9.8 +
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fabric_base Directory Reference
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fabric_base/include/fabric_base
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+Directories

 utils
 
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+Files

 parser_base.hpp
 
 validation_base.hpp
 
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fabric_validator
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+Directories

 include
 
 src
 
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+Files

 server_component.cpp
 
 server_node.cpp
 
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fabric_validator Directory Reference
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fabric_validator/include/fabric_validator
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+Files

 compatibility_plugin.hpp
 
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launch Directory Reference
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fabric_server/launch
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+Files

 fabric.launch.py
 
 generative.launch.py
 
 generative_perception.launch.py
 
 nongenerative.launch.py
 
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 fabric_validator
 
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fabric_base Directory Reference
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fabric_base
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+--search-magnification-image: url('mag_d.svg'); +--search-magnification-select-image: url('mag_seld.svg'); +--search-active-color: #C5C5C5; +--search-filter-background-color: #101826; +--search-filter-foreground-color: #90A5CE; +--search-filter-border-color: #7C95C6; +--search-filter-highlight-text-color: #BCC9E2; +--search-filter-highlight-bg-color: #283A5D; +--search-results-background-color: #101826; +--search-results-foreground-color: #90A5CE; +--search-results-border-color: #7C95C6; +--search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C; + +/** code fragments */ +--code-keyword-color: #CC99CD; +--code-type-keyword-color: #AB99CD; +--code-flow-keyword-color: #E08000; +--code-comment-color: #717790; +--code-preprocessor-color: #65CABE; +--code-string-literal-color: #7EC699; +--code-char-literal-color: #00E0F0; +--code-xml-cdata-color: #C9D1D9; +--code-vhdl-digit-color: #FF00FF; +--code-vhdl-char-color: #C0C0C0; +--code-vhdl-keyword-color: #CF53C9; +--code-vhdl-logic-color: #FF0000; +--code-link-color: #79C0FF; +--code-external-link-color: #79C0FF; +--fragment-foreground-color: #C9D1D9; +--fragment-background-color: black; +--fragment-border-color: #30363D; +--fragment-lineno-border-color: #30363D; +--fragment-lineno-background-color: black; +--fragment-lineno-foreground-color: #6E7681; +--fragment-lineno-link-fg-color: #6E7681; +--fragment-lineno-link-bg-color: #303030; +--fragment-lineno-link-hover-fg-color: #8E96A1; +--fragment-lineno-link-hover-bg-color: #505050; +--tooltip-foreground-color: #C9D1D9; +--tooltip-background-color: #202020; +--tooltip-border-color: #C9D1D9; +--tooltip-doc-color: #D9E1E9; +--tooltip-declaration-color: #20C348; +--tooltip-link-color: #79C0FF; +--tooltip-shadow: none; +--fold-line-color: #808080; +--fold-minus-image: url('minusd.svg'); +--fold-plus-image: url('plusd.svg'); +--fold-minus-image-relpath: url('../../minusd.svg'); +--fold-plus-image-relpath: url('../../plusd.svg'); + +/** font-family */ +--font-family-normal: Roboto,sans-serif; +--font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed; +--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; +--font-family-title: Tahoma,Arial,sans-serif; +--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif; +--font-family-search: Arial,Verdana,sans-serif; +--font-family-icon: Arial,Helvetica; +--font-family-tooltip: Roboto,sans-serif; + +}} +body { + background-color: var(--page-background-color); + color: var(--page-foreground-color); +} + +body, table, div, p, dl { + font-weight: 400; + font-size: 14px; + font-family: var(--font-family-normal); + line-height: 22px; +} + +/* @group Heading Levels */ + +.title { + font-weight: 400; + font-size: 14px; + font-family: var(--font-family-normal); + line-height: 28px; + font-size: 150%; + font-weight: bold; + margin: 10px 2px; +} + +h1.groupheader { + font-size: 150%; +} + +h2.groupheader { + border-bottom: 1px solid var(--group-header-separator-color); + color: var(--group-header-color); + font-size: 150%; + font-weight: normal; + margin-top: 1.75em; + padding-top: 8px; + padding-bottom: 4px; + width: 100%; +} + +h3.groupheader { + font-size: 100%; +} + +h1, h2, h3, h4, h5, h6 { + -webkit-transition: text-shadow 0.5s linear; + -moz-transition: text-shadow 0.5s linear; + -ms-transition: text-shadow 0.5s linear; + -o-transition: text-shadow 0.5s linear; + transition: text-shadow 0.5s linear; + margin-right: 15px; +} + +h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow { + text-shadow: 0 0 15px var(--glow-color); +} + +dt { + font-weight: bold; +} + +p.startli, p.startdd { + margin-top: 2px; +} + +th p.starttd, th p.intertd, th p.endtd { + font-size: 100%; + font-weight: 700; +} + +p.starttd { + margin-top: 0px; +} + +p.endli { + margin-bottom: 0px; +} + +p.enddd { + margin-bottom: 4px; +} + +p.endtd { + margin-bottom: 2px; +} + +p.interli { +} + +p.interdd { +} + +p.intertd { +} + +/* @end */ + +caption { + font-weight: bold; +} + +span.legend { + font-size: 70%; + text-align: center; +} + +h3.version { + font-size: 90%; + text-align: center; +} + +div.navtab { + padding-right: 15px; + text-align: right; + line-height: 110%; +} + +div.navtab table { + border-spacing: 0; +} + +td.navtab { + padding-right: 6px; + padding-left: 6px; +} + +td.navtabHL { + background-image: var(--nav-gradient-active-image); + background-repeat:repeat-x; + padding-right: 6px; + padding-left: 6px; +} + +td.navtabHL a, td.navtabHL a:visited { + color: var(--nav-text-hover-color); + text-shadow: var(--nav-text-hover-shadow); +} + +a.navtab { + font-weight: bold; +} + +div.qindex{ + text-align: center; + width: 100%; + line-height: 140%; + font-size: 130%; + color: var(--index-separator-color); +} + +#main-menu a:focus { + outline: auto; + z-index: 10; + position: relative; +} + +dt.alphachar{ + font-size: 180%; + font-weight: bold; +} + +.alphachar a{ + color: var(--index-header-color); +} + +.alphachar a:hover, .alphachar a:visited{ + text-decoration: none; +} + +.classindex dl { + padding: 25px; + column-count:1 +} + +.classindex dd { + display:inline-block; + margin-left: 50px; + width: 90%; + line-height: 1.15em; +} + +.classindex dl.even { + background-color: var(--index-even-item-bg-color); +} + +.classindex dl.odd { + background-color: var(--index-odd-item-bg-color); +} + +@media(min-width: 1120px) { + .classindex dl { + column-count:2 + } +} + +@media(min-width: 1320px) { + .classindex dl { + column-count:3 + } +} + + +/* @group Link Styling */ + +a { + color: var(--page-link-color); + font-weight: normal; + text-decoration: none; +} + +.contents a:visited { + color: var(--page-visited-link-color); +} + +a:hover { + text-decoration: underline; +} + +a.el { + font-weight: bold; +} + +a.elRef { +} + +a.code, a.code:visited, a.line, a.line:visited { + color: var(--code-link-color); +} + +a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited { + color: var(--code-external-link-color); +} + +a.code.hl_class { /* style for links to class names in code snippets */ } +a.code.hl_struct { /* style for links to struct names in code snippets */ } +a.code.hl_union { /* style for links to union names in code snippets */ } +a.code.hl_interface { /* style for links to interface names in code snippets */ } +a.code.hl_protocol { /* style for links to protocol names in code snippets */ } +a.code.hl_category { /* style for links to category names in code snippets */ } +a.code.hl_exception { /* style for links to exception names in code snippets */ } +a.code.hl_service { /* style for links to service names in code snippets */ } +a.code.hl_singleton { /* style for links to singleton names in code snippets */ } +a.code.hl_concept { /* style for links to concept names in code snippets */ } +a.code.hl_namespace { /* style for links to namespace names in code snippets */ } +a.code.hl_package { /* style for links to package names in code snippets */ } +a.code.hl_define { /* style for links to macro names in code snippets */ } +a.code.hl_function { /* style for links to function names in code snippets */ } +a.code.hl_variable { /* style for links to variable names in code snippets */ } +a.code.hl_typedef { /* style for links to typedef names in code snippets */ } +a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ } +a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ } +a.code.hl_signal { /* style for links to Qt signal names in code snippets */ } +a.code.hl_slot { /* style for links to Qt slot names in code snippets */ } +a.code.hl_friend { /* style for links to friend names in code snippets */ } +a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ } +a.code.hl_property { /* style for links to property names in code snippets */ } +a.code.hl_event { /* style for links to event names in code snippets */ } +a.code.hl_sequence { /* style for links to sequence names in code snippets */ } +a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ } + +/* @end */ + +dl.el { + margin-left: -1cm; +} + +ul { + overflow: visible; +} + +ul.multicol { + -moz-column-gap: 1em; + -webkit-column-gap: 1em; + column-gap: 1em; + -moz-column-count: 3; + -webkit-column-count: 3; + column-count: 3; + list-style-type: none; +} + +#side-nav ul { + overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */ +} + +#main-nav ul { + overflow: visible; /* reset ul rule for the navigation bar drop down lists */ +} + +.fragment { + text-align: left; + direction: ltr; + overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/ + overflow-y: hidden; +} + +pre.fragment { + border: 1px solid var(--fragment-border-color); + background-color: var(--fragment-background-color); + color: var(--fragment-foreground-color); + padding: 4px 6px; + margin: 4px 8px 4px 2px; + overflow: auto; + word-wrap: break-word; + font-size: 9pt; + line-height: 125%; + font-family: var(--font-family-monospace); + font-size: 105%; +} + +div.fragment { + padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/ + margin: 4px 8px 4px 2px; + color: var(--fragment-foreground-color); + background-color: var(--fragment-background-color); + border: 1px solid var(--fragment-border-color); +} + +div.line { + font-family: var(--font-family-monospace); + font-size: 13px; + min-height: 13px; + line-height: 1.2; + text-wrap: unrestricted; + white-space: -moz-pre-wrap; /* Moz */ + white-space: -pre-wrap; /* Opera 4-6 */ + white-space: -o-pre-wrap; /* Opera 7 */ + white-space: pre-wrap; /* CSS3 */ + word-wrap: break-word; /* IE 5.5+ */ + text-indent: -53px; + padding-left: 53px; + padding-bottom: 0px; + margin: 0px; + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +div.line:after { + content:"\000A"; + white-space: pre; +} + +div.line.glow { + background-color: var(--glow-color); + box-shadow: 0 0 10px var(--glow-color); +} + +span.fold { + margin-left: 5px; + margin-right: 1px; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; + display: inline-block; + width: 12px; + height: 12px; + background-repeat:no-repeat; + background-position:center; +} + +span.lineno { + padding-right: 4px; + margin-right: 9px; + text-align: right; + border-right: 2px solid var(--fragment-lineno-border-color); + color: var(--fragment-lineno-foreground-color); + background-color: var(--fragment-lineno-background-color); + white-space: pre; +} +span.lineno a, span.lineno a:visited { + color: var(--fragment-lineno-link-fg-color); + background-color: var(--fragment-lineno-link-bg-color); +} + +span.lineno a:hover { + color: var(--fragment-lineno-link-hover-fg-color); + background-color: var(--fragment-lineno-link-hover-bg-color); +} + +.lineno { + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +div.classindex ul { + list-style: none; + padding-left: 0; +} + +div.classindex span.ai { + display: inline-block; +} + +div.groupHeader { + margin-left: 16px; + margin-top: 12px; + font-weight: bold; +} + +div.groupText { + margin-left: 16px; + font-style: italic; +} + +body { + color: var(--page-foreground-color); + margin: 0; +} + +div.contents { + margin-top: 10px; + margin-left: 12px; + margin-right: 8px; +} + +p.formulaDsp { + text-align: center; +} + +img.dark-mode-visible { + display: none; +} +img.light-mode-visible { + display: none; +} + +img.formulaDsp { + +} + +img.formulaInl, img.inline { + vertical-align: middle; +} + +div.center { + text-align: center; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; +} + +div.center img { + border: 0px; +} + +address.footer { + text-align: right; + padding-right: 12px; +} + +img.footer { + border: 0px; + vertical-align: middle; + width: var(--footer-logo-width); +} + +.compoundTemplParams { + color: var(--memdecl-template-color); + font-size: 80%; + line-height: 120%; +} + +/* @group Code Colorization */ + +span.keyword { + color: var(--code-keyword-color); +} + +span.keywordtype { + color: var(--code-type-keyword-color); +} + +span.keywordflow { + color: var(--code-flow-keyword-color); +} + +span.comment { + color: var(--code-comment-color); +} + +span.preprocessor { + color: var(--code-preprocessor-color); +} + +span.stringliteral { + color: var(--code-string-literal-color); +} + +span.charliteral { + color: var(--code-char-literal-color); +} + +span.xmlcdata { + color: var(--code-xml-cdata-color); +} + +span.vhdldigit { + color: var(--code-vhdl-digit-color); +} + +span.vhdlchar { + color: var(--code-vhdl-char-color); +} + +span.vhdlkeyword { + color: var(--code-vhdl-keyword-color); +} + +span.vhdllogic { + color: var(--code-vhdl-logic-color); +} + +blockquote { + background-color: var(--blockquote-background-color); + border-left: 2px solid var(--blockquote-border-color); + margin: 0 24px 0 4px; + padding: 0 12px 0 16px; +} + +/* @end */ + +td.tiny { + font-size: 75%; +} + +.dirtab { + padding: 4px; + border-collapse: collapse; + border: 1px solid var(--table-cell-border-color); +} + +th.dirtab { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-weight: bold; +} + +hr { + height: 0px; + border: none; + border-top: 1px solid var(--separator-color); +} + +hr.footer { + height: 1px; +} + +/* @group Member Descriptions */ + +table.memberdecls { + border-spacing: 0px; + padding: 0px; +} + +.memberdecls td, .fieldtable tr { + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +.memberdecls td.glow, .fieldtable tr.glow { + background-color: var(--glow-color); + box-shadow: 0 0 15px var(--glow-color); +} + +.mdescLeft, .mdescRight, +.memItemLeft, .memItemRight, +.memTemplItemLeft, .memTemplItemRight, .memTemplParams { + background-color: var(--memdecl-background-color); + border: none; + margin: 4px; + padding: 1px 0 0 8px; +} + +.mdescLeft, .mdescRight { + padding: 0px 8px 4px 8px; + color: var(--memdecl-foreground-color); +} + +.memSeparator { + border-bottom: 1px solid var(--memdecl-separator-color); + line-height: 1px; + margin: 0px; + padding: 0px; +} + +.memItemLeft, .memTemplItemLeft { + white-space: nowrap; +} + +.memItemRight, .memTemplItemRight { + width: 100%; +} + +.memTemplParams { + color: var(--memdecl-template-color); + white-space: nowrap; + font-size: 80%; +} + +/* @end */ + +/* @group Member Details */ + +/* Styles for detailed member documentation */ + +.memtitle { + padding: 8px; + border-top: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + border-top-right-radius: 4px; + border-top-left-radius: 4px; + margin-bottom: -1px; + background-image: var(--memdef-title-gradient-image); + background-repeat: repeat-x; + background-color: var(--memdef-title-background-color); + line-height: 1.25; + font-weight: 300; + float:left; +} + +.permalink +{ + font-size: 65%; + display: inline-block; + vertical-align: middle; +} + +.memtemplate { + font-size: 80%; + color: var(--memdef-template-color); + font-weight: normal; + margin-left: 9px; +} + +.mempage { + width: 100%; +} + +.memitem { + padding: 0; + margin-bottom: 10px; + margin-right: 5px; + -webkit-transition: box-shadow 0.5s linear; + -moz-transition: box-shadow 0.5s linear; + -ms-transition: box-shadow 0.5s linear; + -o-transition: box-shadow 0.5s linear; + transition: box-shadow 0.5s linear; + display: table !important; + width: 100%; +} + +.memitem.glow { + box-shadow: 0 0 15px var(--glow-color); +} + +.memname { + font-weight: 400; + margin-left: 6px; +} + +.memname td { + vertical-align: bottom; +} + +.memproto, dl.reflist dt { + border-top: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + padding: 6px 0px 6px 0px; + color: var(--memdef-proto-text-color); + font-weight: bold; + text-shadow: var(--memdef-proto-text-shadow); + background-color: var(--memdef-proto-background-color); + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + border-top-right-radius: 4px; +} + +.overload { + font-family: var(--font-family-monospace); + font-size: 65%; +} + +.memdoc, dl.reflist dd { + border-bottom: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + padding: 6px 10px 2px 10px; + border-top-width: 0; + background-image:url('nav_g.png'); + background-repeat:repeat-x; + background-color: var(--memdef-doc-background-color); + /* opera specific markup */ + border-bottom-left-radius: 4px; + border-bottom-right-radius: 4px; + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + /* firefox specific markup */ + -moz-border-radius-bottomleft: 4px; + -moz-border-radius-bottomright: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + /* webkit specific markup */ + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +dl.reflist dt { + padding: 5px; +} + +dl.reflist dd { + margin: 0px 0px 10px 0px; + padding: 5px; +} + +.paramkey { + text-align: right; +} + +.paramtype { + white-space: nowrap; +} + +.paramname { + color: var(--memdef-param-name-color); + white-space: nowrap; +} +.paramname em { + font-style: normal; +} +.paramname code { + line-height: 14px; +} + +.params, .retval, .exception, .tparams { + margin-left: 0px; + padding-left: 0px; +} + +.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { + font-weight: bold; + vertical-align: top; +} + +.params .paramtype, .tparams .paramtype { + font-style: italic; + vertical-align: top; +} + +.params .paramdir, .tparams .paramdir { + font-family: var(--font-family-monospace); + vertical-align: top; +} + +table.mlabels { + border-spacing: 0px; +} + +td.mlabels-left { + width: 100%; + padding: 0px; +} + +td.mlabels-right { + vertical-align: bottom; + padding: 0px; + white-space: nowrap; +} + +span.mlabels { + margin-left: 8px; +} + +span.mlabel { + background-color: var(--label-background-color); + border-top:1px solid var(--label-left-top-border-color); + border-left:1px solid var(--label-left-top-border-color); + border-right:1px solid var(--label-right-bottom-border-color); + border-bottom:1px solid var(--label-right-bottom-border-color); + text-shadow: none; + color: var(--label-foreground-color); + margin-right: 4px; + padding: 2px 3px; + border-radius: 3px; + font-size: 7pt; + white-space: nowrap; + vertical-align: middle; +} + + + +/* @end */ + +/* these are for tree view inside a (index) page */ + +div.directory { + margin: 10px 0px; + border-top: 1px solid var(--directory-separator-color); + border-bottom: 1px solid var(--directory-separator-color); + width: 100%; +} + +.directory table { + border-collapse:collapse; +} + +.directory td { + margin: 0px; + padding: 0px; + vertical-align: top; +} + +.directory td.entry { + white-space: nowrap; + padding-right: 6px; + padding-top: 3px; +} + +.directory td.entry a { + outline:none; +} + +.directory td.entry a img { + border: none; +} + +.directory td.desc { + width: 100%; + padding-left: 6px; + padding-right: 6px; + padding-top: 3px; + border-left: 1px solid rgba(0,0,0,0.05); +} + +.directory tr.odd { + padding-left: 6px; + background-color: var(--index-odd-item-bg-color); +} + +.directory tr.even { + padding-left: 6px; + background-color: var(--index-even-item-bg-color); +} + +.directory img { + vertical-align: -30%; +} + +.directory .levels { + white-space: nowrap; + width: 100%; + text-align: right; + font-size: 9pt; +} + +.directory .levels span { + cursor: pointer; + padding-left: 2px; + padding-right: 2px; + color: var(--page-link-color); +} + +.arrow { + color: var(--nav-arrow-color); + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + cursor: pointer; + font-size: 80%; + display: inline-block; + width: 16px; + height: 22px; +} + +.icon { + font-family: var(--font-family-icon); + line-height: normal; + font-weight: bold; + font-size: 12px; + height: 14px; + width: 16px; + display: inline-block; + background-color: var(--icon-background-color); + color: var(--icon-foreground-color); + text-align: center; + border-radius: 4px; + margin-left: 2px; + margin-right: 2px; +} + +.icona { + width: 24px; + height: 22px; + display: inline-block; +} + +.iconfopen { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-folder-open-image); + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.iconfclosed { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-folder-closed-image); + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.icondoc { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-doc-image); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +/* @end */ + +div.dynheader { + margin-top: 8px; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +address { + font-style: normal; + color: var(--footer-foreground-color); +} + +table.doxtable caption { + caption-side: top; +} + +table.doxtable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.doxtable td, table.doxtable th { + border: 1px solid var(--table-cell-border-color); + padding: 3px 7px 2px; +} + +table.doxtable th { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +table.fieldtable { + margin-bottom: 10px; + border: 1px solid var(--memdef-border-color); + border-spacing: 0px; + border-radius: 4px; + box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); +} + +.fieldtable td, .fieldtable th { + padding: 3px 7px 2px; +} + +.fieldtable td.fieldtype, .fieldtable td.fieldname { + white-space: nowrap; + border-right: 1px solid var(--memdef-border-color); + border-bottom: 1px solid var(--memdef-border-color); + vertical-align: top; +} + +.fieldtable td.fieldname { + padding-top: 3px; +} + +.fieldtable td.fielddoc { + border-bottom: 1px solid var(--memdef-border-color); +} + +.fieldtable td.fielddoc p:first-child { + margin-top: 0px; +} + +.fieldtable td.fielddoc p:last-child { + margin-bottom: 2px; +} + +.fieldtable tr:last-child td { + border-bottom: none; +} + +.fieldtable th { + background-image: var(--memdef-title-gradient-image); + background-repeat:repeat-x; + background-color: var(--memdef-title-background-color); + font-size: 90%; + color: var(--memdef-proto-text-color); + padding-bottom: 4px; + padding-top: 5px; + text-align:left; + font-weight: 400; + border-top-left-radius: 4px; + border-top-right-radius: 4px; + border-bottom: 1px solid var(--memdef-border-color); +} + + +.tabsearch { + top: 0px; + left: 10px; + height: 36px; + background-image: var(--nav-gradient-image); + z-index: 101; + overflow: hidden; + font-size: 13px; +} + +.navpath ul +{ + font-size: 11px; + background-image: var(--nav-gradient-image); + background-repeat:repeat-x; + background-position: 0 -5px; + height:30px; + line-height:30px; + color:var(--nav-text-normal-color); + border:solid 1px var(--nav-breadcrumb-border-color); + overflow:hidden; + margin:0px; + padding:0px; +} + +.navpath li +{ + list-style-type:none; + float:left; + padding-left:10px; + padding-right:15px; + background-image:var(--nav-breadcrumb-image); + background-repeat:no-repeat; + background-position:right; + color: var(--nav-foreground-color); +} + +.navpath li.navelem a +{ + height:32px; + display:block; + text-decoration: none; + outline: none; + color: var(--nav-text-normal-color); + font-family: var(--font-family-nav); + text-shadow: var(--nav-text-normal-shadow); + text-decoration: none; +} + +.navpath li.navelem a:hover +{ + color: var(--nav-text-hover-color); + text-shadow: var(--nav-text-hover-shadow); +} + +.navpath li.footer +{ + list-style-type:none; + float:right; + padding-left:10px; + padding-right:15px; + background-image:none; + background-repeat:no-repeat; + background-position:right; + color: var(--footer-foreground-color); + font-size: 8pt; +} + + +div.summary +{ + float: right; + font-size: 8pt; + padding-right: 5px; + width: 50%; + text-align: right; +} + +div.summary a +{ + white-space: nowrap; +} + +table.classindex +{ + margin: 10px; + white-space: nowrap; + margin-left: 3%; + margin-right: 3%; + width: 94%; + border: 0; + border-spacing: 0; + padding: 0; +} + +div.ingroups +{ + font-size: 8pt; + width: 50%; + text-align: left; +} + +div.ingroups a +{ + white-space: nowrap; +} + +div.header +{ + background-image: var(--header-gradient-image); + background-repeat:repeat-x; + background-color: var(--header-background-color); + margin: 0px; + border-bottom: 1px solid var(--header-separator-color); +} + +div.headertitle +{ + padding: 5px 5px 5px 10px; +} + +.PageDocRTL-title div.headertitle { + text-align: right; + direction: rtl; +} + +dl { + padding: 0 0 0 0; +} + +/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */ +dl.section { + margin-left: 0px; + padding-left: 0px; +} + +dl.note { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #D0C000; +} + +dl.warning, dl.attention { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #FF0000; +} + +dl.pre, dl.post, dl.invariant { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00D000; +} + +dl.deprecated { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #505050; +} + +dl.todo { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00C0E0; +} + +dl.test { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #3030E0; +} + +dl.bug { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #C08050; +} + +dl.section dd { + margin-bottom: 6px; +} + + +#projectrow +{ + height: 56px; +} + +#projectlogo +{ + text-align: center; + vertical-align: bottom; + border-collapse: separate; +} + +#projectlogo img +{ + border: 0px none; +} + +#projectalign +{ + vertical-align: middle; + padding-left: 0.5em; +} + +#projectname +{ + font-size: 200%; + font-family: var(--font-family-title); + margin: 0px; + padding: 2px 0px; +} + +#projectbrief +{ + font-size: 90%; + font-family: var(--font-family-title); + margin: 0px; + padding: 0px; +} + +#projectnumber +{ + font-size: 50%; + font-family: 50% var(--font-family-title); + margin: 0px; + padding: 0px; +} + +#titlearea +{ + padding: 0px; + margin: 0px; + width: 100%; + border-bottom: 1px solid var(--title-separator-color); + background-color: var(--title-background-color); +} + +.image +{ + text-align: center; +} + +.dotgraph +{ + text-align: center; +} + +.mscgraph +{ + text-align: center; +} + +.plantumlgraph +{ + text-align: center; +} + +.diagraph +{ + text-align: center; +} + +.caption +{ + font-weight: bold; +} + +dl.citelist { + margin-bottom:50px; +} + +dl.citelist dt { + color:var(--citation-label-color); + float:left; + font-weight:bold; + margin-right:10px; + padding:5px; + text-align:right; + width:52px; +} + +dl.citelist dd { + margin:2px 0 2px 72px; + padding:5px 0; +} + +div.toc { + padding: 14px 25px; + background-color: var(--toc-background-color); + border: 1px solid var(--toc-border-color); + border-radius: 7px 7px 7px 7px; + float: right; + height: auto; + margin: 0 8px 10px 10px; + width: 200px; +} + +div.toc li { + background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent; + font: 10px/1.2 var(--font-family-toc); + margin-top: 5px; + padding-left: 10px; + padding-top: 2px; +} + +div.toc h3 { + font: bold 12px/1.2 var(--font-family-toc); + color: var(--toc-header-color); + border-bottom: 0 none; + margin: 0; +} + +div.toc ul { + list-style: none outside none; + border: medium none; + padding: 0px; +} + +div.toc li.level1 { + margin-left: 0px; +} + +div.toc li.level2 { + margin-left: 15px; +} + +div.toc li.level3 { + margin-left: 15px; +} + +div.toc li.level4 { + margin-left: 15px; +} + +span.emoji { + /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html + * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort; + */ +} + +span.obfuscator { + display: none; +} + +.inherit_header { + font-weight: bold; + color: var(--inherit-header-color); + cursor: pointer; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +.inherit_header td { + padding: 6px 0px 2px 5px; +} + +.inherit { + display: none; +} + +tr.heading h2 { + margin-top: 12px; + margin-bottom: 4px; +} + +/* tooltip related style info */ + +.ttc { + position: absolute; + display: none; +} + +#powerTip { + cursor: default; + /*white-space: nowrap;*/ + color: var(--tooltip-foreground-color); + background-color: var(--tooltip-background-color); + border: 1px solid var(--tooltip-border-color); + border-radius: 4px 4px 4px 4px; + box-shadow: var(--tooltip-shadow); + display: none; + font-size: smaller; + max-width: 80%; + opacity: 0.9; + padding: 1ex 1em 1em; + position: absolute; + z-index: 2147483647; +} + +#powerTip div.ttdoc { + color: var(--tooltip-doc-color); + font-style: italic; +} + +#powerTip div.ttname a { + font-weight: bold; +} + +#powerTip a { + color: var(--tooltip-link-color); +} + +#powerTip div.ttname { + font-weight: bold; +} + +#powerTip div.ttdeci { + color: var(--tooltip-declaration-color); +} + +#powerTip div { + margin: 0px; + padding: 0px; + font-size: 12px; + font-family: var(--font-family-tooltip); + line-height: 16px; +} + +#powerTip:before, #powerTip:after { + content: ""; + position: absolute; + margin: 0px; +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.s:after, #powerTip.s:before, +#powerTip.w:after, #powerTip.w:before, +#powerTip.e:after, #powerTip.e:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.nw:after, #powerTip.nw:before, +#powerTip.sw:after, #powerTip.sw:before { + border: solid transparent; + content: " "; + height: 0; + width: 0; + position: absolute; +} + +#powerTip.n:after, #powerTip.s:after, +#powerTip.w:after, #powerTip.e:after, +#powerTip.nw:after, #powerTip.ne:after, +#powerTip.sw:after, #powerTip.se:after { + border-color: rgba(255, 255, 255, 0); +} + +#powerTip.n:before, #powerTip.s:before, +#powerTip.w:before, #powerTip.e:before, +#powerTip.nw:before, #powerTip.ne:before, +#powerTip.sw:before, #powerTip.se:before { + border-color: rgba(128, 128, 128, 0); +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.nw:after, #powerTip.nw:before { + top: 100%; +} + +#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after { + border-top-color: var(--tooltip-background-color); + border-width: 10px; + margin: 0px -10px; +} +#powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before { + border-top-color: var(--tooltip-border-color); + border-width: 11px; + margin: 0px -11px; +} +#powerTip.n:after, #powerTip.n:before { + left: 50%; +} + +#powerTip.nw:after, #powerTip.nw:before { + right: 14px; +} + +#powerTip.ne:after, #powerTip.ne:before { + left: 14px; +} + +#powerTip.s:after, #powerTip.s:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.sw:after, #powerTip.sw:before { + bottom: 100%; +} + +#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after { + border-bottom-color: var(--tooltip-background-color); + border-width: 10px; + margin: 0px -10px; +} + +#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before { + border-bottom-color: var(--tooltip-border-color); + border-width: 11px; + margin: 0px -11px; +} + +#powerTip.s:after, #powerTip.s:before { + left: 50%; +} + +#powerTip.sw:after, #powerTip.sw:before { + right: 14px; +} + +#powerTip.se:after, #powerTip.se:before { + left: 14px; +} + +#powerTip.e:after, #powerTip.e:before { + left: 100%; +} +#powerTip.e:after { + border-left-color: var(--tooltip-border-color); + border-width: 10px; + top: 50%; + margin-top: -10px; +} +#powerTip.e:before { + border-left-color: var(--tooltip-border-color); + border-width: 11px; + top: 50%; + margin-top: -11px; +} + +#powerTip.w:after, #powerTip.w:before { + right: 100%; +} +#powerTip.w:after { + border-right-color: var(--tooltip-border-color); + border-width: 10px; + top: 50%; + margin-top: -10px; +} +#powerTip.w:before { + border-right-color: var(--tooltip-border-color); + border-width: 11px; + top: 50%; + margin-top: -11px; +} + +@media print +{ + #top { display: none; } + #side-nav { display: none; } + #nav-path { display: none; } + body { overflow:visible; } + h1, h2, h3, h4, h5, h6 { page-break-after: avoid; } + .summary { display: none; } + .memitem { page-break-inside: avoid; } + #doc-content + { + margin-left:0 !important; + height:auto !important; + width:auto !important; + overflow:inherit; + display:inline; + } +} + +/* @group Markdown */ + +table.markdownTable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.markdownTable td, table.markdownTable th { + border: 1px solid var(--table-cell-border-color); + padding: 3px 7px 2px; +} + +table.markdownTable tr { +} + +th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +th.markdownTableHeadLeft, td.markdownTableBodyLeft { + text-align: left +} + +th.markdownTableHeadRight, td.markdownTableBodyRight { + text-align: right +} + +th.markdownTableHeadCenter, td.markdownTableBodyCenter { + text-align: center +} + +tt, code, kbd, samp +{ + display: inline-block; +} +/* @end */ + +u { + text-decoration: underline; +} + +details>summary { + list-style-type: none; +} + +details > summary::-webkit-details-marker { + display: none; +} + +details>summary::before { + content: "\25ba"; + padding-right:4px; + font-size: 80%; +} + +details[open]>summary::before { + content: "\25bc"; + padding-right:4px; + font-size: 80%; +} + +body { + scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color); +} + +::-webkit-scrollbar { + background-color: var(--scrollbar-background-color); + height: 12px; + width: 12px; +} +::-webkit-scrollbar-thumb { + border-radius: 6px; + box-shadow: inset 0 0 12px 12px var(--scrollbar-thumb-color); + border: solid 2px transparent; +} +::-webkit-scrollbar-corner { + background-color: var(--scrollbar-background-color); +} + diff --git a/docs/html/doxygen.svg b/docs/html/doxygen.svg new file mode 100644 index 0000000..79a7635 --- /dev/null +++ b/docs/html/doxygen.svg @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/html/dynsections.js b/docs/html/dynsections.js new file mode 100644 index 0000000..b73c828 --- /dev/null +++ b/docs/html/dynsections.js @@ -0,0 +1,192 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function toggleVisibility(linkObj) +{ + var base = $(linkObj).attr('id'); + var summary = $('#'+base+'-summary'); + var content = $('#'+base+'-content'); + var trigger = $('#'+base+'-trigger'); + var src=$(trigger).attr('src'); + if (content.is(':visible')===true) { + content.hide(); + summary.show(); + $(linkObj).addClass('closed').removeClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png'); + } else { + content.show(); + summary.hide(); + $(linkObj).removeClass('closed').addClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); + } + return false; +} + +function updateStripes() +{ + $('table.directory tr'). + removeClass('even').filter(':visible:even').addClass('even'); + $('table.directory tr'). + removeClass('odd').filter(':visible:odd').addClass('odd'); +} + +function toggleLevel(level) +{ + $('table.directory tr').each(function() { + var l = this.id.split('_').length-1; + var i = $('#img'+this.id.substring(3)); + var a = $('#arr'+this.id.substring(3)); + if (l'); + // add vertical lines to other rows + $('span[class=lineno]').not(':eq(0)').append(''); + // add toggle controls to lines with fold divs + $('div[class=foldopen]').each(function() { + // extract specific id to use + var id = $(this).attr('id').replace('foldopen',''); + // extract start and end foldable fragment attributes + var start = $(this).attr('data-start'); + var end = $(this).attr('data-end'); + // replace normal fold span with controls for the first line of a foldable fragment + $(this).find('span[class=fold]:first').replaceWith(''); + // append div for folded (closed) representation + $(this).after(''); + // extract the first line from the "open" section to represent closed content + var line = $(this).children().first().clone(); + // remove any glow that might still be active on the original line + $(line).removeClass('glow'); + if (start) { + // if line already ends with a start marker (e.g. trailing {), remove it + $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),'')); + } + // replace minus with plus symbol + $(line).find('span[class=fold]').css('background-image',plusImg[relPath]); + // append ellipsis + $(line).append(' '+start+'…'+end); + // insert constructed line into closed div + $('#foldclosed'+id).html(line); + }); +} + +/* @license-end */ diff --git a/docs/html/exception_8hpp.html b/docs/html/exception_8hpp.html new file mode 100644 index 0000000..6c48e80 --- /dev/null +++ b/docs/html/exception_8hpp.html @@ -0,0 +1,151 @@ + + + + + + + +Fabric: fabric_base/include/fabric_base/utils/exception.hpp File Reference + + + + + + + + + +
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exception.hpp File Reference
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#include <stdexcept>
+#include <string>
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struct  fabric::fabric_exception
 Base class for driver exceptions. More...
 
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namespace  fabric
 
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1#pragma once
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2
+
3#include <stdexcept>
+
4#include <string>
+
5
+
6
+
7namespace fabric
+
8{
+
+
13struct fabric_exception : public std::runtime_error
+
14{
+
15 using std::runtime_error::runtime_error;
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16
+
+
17 fabric_exception(const std::string& what) : std::runtime_error(what)
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18 {
+
19 }
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20
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21 virtual const char* what() const noexcept override
+
22 {
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23 return std::runtime_error::what();
+
24 }
+
+
25};
+
+
26}
+
fabric
Definition parser_base.hpp:9
+
fabric::fabric_exception
Base class for driver exceptions.
Definition exception.hpp:14
+
fabric::fabric_exception::fabric_exception
fabric_exception(const std::string &what)
Definition exception.hpp:17
+
fabric::fabric_exception::what
virtual const char * what() const noexcept override
Definition exception.hpp:21
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Class Hierarchy
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Go to the graphical class hierarchy

+This inheritance list is sorted roughly, but not completely, alphabetically:
+
[detail level 12]
+ + + + + + + + + + + + + + +
 CBondClient
 Cfabric::CapabilityClientClass for capability client interactions
 Cfabric::CapabilityInfo
 Cfabric::connectionStructure representing connections between nodes
 Cfabric::nodeStructure representing a node in the fabric
 ▼Crclcpp::Node
 Cfabric::FabricClass representing the main server of the fabric
 ▼Cfabric::ParserBaseAbstract base class for XML plan parsing plugins
 Cfabric::XMLParserSyntax validation plugin for XML plans
 Cfabric::Plan
 ▼Cstd::runtime_error
 Cfabric::fabric_exceptionBase class for driver exceptions
 ▼Cfabric::ValidationBaseAbstract base class for XML plan validation plugins
 Cfabric::CompatibilityValidationSyntax validation plugin for XML plans
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+Generated by doxygen 1.9.8 +
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Fabric
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+

Fabric is a ROS2 package that provides a system to coordinate and manage various capabilities as defined by the Capabilities2 framework. This package extends the functionality of the Capabilities2 package to implement a Finite State Machine based on capabilities. It is designed to parse an execution plan given via an XML file and identify connections between various capabilities in the system which would be relayed back to Capabilities2 framework to execute.

+

Currently the system supports 4 control functions:

    +
  • sequential: triggers child runners in sequence.
    • +
  • parallel_all: waits for all child branches to report success before proceeding.
    • +
  • parallel_any: proceeds when any child branch reports success.
    • +
  • recovery: defines a recovery branch that can be triggered on failure.
    • +
+

+Features

+
    +
  • Implements a Partially Incomplete Finite State Machine based on the XML execution plan
    • +
  • Validates the XML plan for compatibility with robot.
    • +
  • Parses XML-based plans and identifies connections between capabilities.
    • +
  • Informs capabilities2 framework regarding the capability connections and orchestrate a FSM.
    • +
+

+Read more about,

+ +

+Setting the Fabric

+

Clone the repo into a workspace

+
mkdir -p workspace/src
+
cd workspace/src
+
git clone https://github.com/CollaborativeRoboticsLab/fabric.git
+
cd ..
+
rosdep install --from-paths src --ignore-src -r -y
+

Setup the capabilities2 framework as instructed.

+

+Launching fabric

+

The fabric_server/plans/default.xml file is the default example plan. New plans can be added there or stored anywhere else on disk.

+

The fabric_server/config/fabric.yaml file configures the parser plugin, validation plugin, and capability client settings. The plan path itself is provided by the launch file.

+

Launch with the packaged default plan:

+
source install/setup.bash
+
ros2 launch fabric_server fabric.launch.py
+

Launch with a different packaged plan by filename:

+
source install/setup.bash
+
ros2 launch fabric_server fabric.launch.py filename:=default.xml
+

Launch with an explicit plan path:

+
source install/setup.bash
+
ros2 launch fabric_server fabric.launch.py plan_file_path:=/absolute/path/to/plan.xml
+

+Composed launch

+

Composed launch is a more efficient approach to spin up a system under a single process. Positives are IPC via shared memory, providing lower latency and optimized resoirce usage. Draw back of this approach is that, it becomes harder for debugging and fault tolerence.

+

Use independent launch files with standard node based implementations for debugging. For deployment, utilize composed launch where ever possible.

+

We provide several composed launch files for launching the system.

+

+Non generative launch

+

This launch file starts Fabric Server and Capabilities2 Server. Suitable for non-generative use with predefined plans.

+
source install/setup.bash
+
ros2 launch fabric_server nongenerative.launch.py
+

+Generative launch

+

This launch file starts Fabric Server, Capabilities2 Server, and prompt_tools. Suitable for generative use without perception.

+
export OPENAI_API_KEY=
+
source install/setup.bash
+
ros2 launch fabric_server generative.launch.py
+

+Generative launch with perception

+

This launch file starts Fabric Server, Capabilities2 Server, prompt_tools, and Perception Server. Suitable for generative use with perception.

+
export OPENAI_API_KEY=
+
source install/setup.bash
+
ros2 launch fabric_server generative_perception.launch.py
+
+
+ +
+Generated by doxygen 1.9.8 +
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b/docs/html/md_TODO.html @@ -0,0 +1,85 @@ + + + + + + + +Fabric: TODO + + + + + + + + + +
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TODO
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+

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  • Add a small integration test for /fabric/cancel_plan and /fabric/get_plan_status.
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+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/md_docs_2api.html b/docs/html/md_docs_2api.html new file mode 100644 index 0000000..c720b67 --- /dev/null +++ b/docs/html/md_docs_2api.html @@ -0,0 +1,100 @@ + + + + + + + +Fabric: ROS2 Interface + + + + + + + + + +
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ROS2 Interface
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Node Description
Fabric Main server node. Loads the configured parser and validation plugins, queues plans, validates them against capabilities2, allocates/connects capabilities, and tracks execution status.
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Service Service Message Description
/fabric/cancel_plan CancelFabricPlan.srv Cancel the current plan running in the Fabric
/fabric/set_completion CompleteFabric.srv Mark the current plan complete. The request contains only plan_id; the response is empty.
/fabric/set_plan SetFabricPlan.srv Submit a plan as raw XML text. On success the response contains a generated plan_id; on rejection it returns an empty plan_id and an error string.
/fabric/get_plan_status GetPlanStatus.srv Query the current queued or active status for a plan_id. Returns a FabricStatus code and, for parse failures, any rejected XML fragments collected during syntax validation.
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+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/md_docs_2bond__client.html b/docs/html/md_docs_2bond__client.html new file mode 100644 index 0000000..3d7707f --- /dev/null +++ b/docs/html/md_docs_2bond__client.html @@ -0,0 +1,139 @@ + + + + + + + +Fabric: BondClient + + + + + + + + + +
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BondClient
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The BondClient class manages the lifecycle of a bond between the Fabric node and the capabilities server. Bonds are used to monitor the connection and ensure both sides are alive and responsive during plan execution.

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+Purpose

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  • Establishes a heartbeat connection (bond) with the capabilities server for a specific plan execution (identified by a bond ID).
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  • Monitors the bond state to detect if the connection is formed or broken.
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  • Cleans up the bond when execution is complete or the client is destroyed.
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+Main Methods

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Method Purpose
BondClient(node, bond_id) Constructor. Initializes the bond client with the node and bond ID. Retrieves the bond topic from parameters.
start() Starts the bond, sets heartbeat period and timeout, and logs the event.
stop() Stops and cleans up the bond, logging the event.
~BondClient() Destructor. Ensures the bond is stopped and cleaned up.
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+Callbacks

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  • on_formed(): Called when the bond is successfully established. Logs the event.
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  • on_broken(): Called when the bond is broken (e.g., server disconnects or crashes). Logs the event.
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+Usage in Fabric

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  • Each plan execution is associated with a unique bond ID.
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  • The Fabric server creates a BondClient for each new plan, starts the bond, and monitors its state.
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  • When the plan is complete or needs to be stopped, the bond is stopped and cleaned up.
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  • If the bond is broken unexpectedly, the system can take recovery actions or log the failure.
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+Parameters

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  • capability_client.bond_topic: The ROS parameter specifying the bond topic (default: /capabilities/bond).
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+Runtime Behavior

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  • start() creates a bond::Bond, sets a 0.10 s heartbeat period, sets a 10.0 s timeout, and starts the heartbeat.
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  • stop() destroys the bond client instance if one exists.
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+Example Flow

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  1. Initialization: BondClient is constructed with the node and bond ID.
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  2. Start: start() is called to begin the bond heartbeat.
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  3. Monitor: The bond state is monitored via on_formed() and on_broken() callbacks.
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  4. Stop: stop() is called when the plan is done or the client is destroyed.
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The BondClient ensures robust monitoring of the connection between Fabric and the capabilities server, enabling reliable plan execution and graceful handling of disconnections or failures.

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+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/md_docs_2capability__client.html b/docs/html/md_docs_2capability__client.html new file mode 100644 index 0000000..1944277 --- /dev/null +++ b/docs/html/md_docs_2capability__client.html @@ -0,0 +1,152 @@ + + + + + + + +Fabric: CapabilityClient + + + + + + + + + +
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CapabilityClient
+
+
+

The CapabilityClient class in Fabric is responsible for all interactions with the capabilities2 server. It manages service clients for querying available capabilities, establishing bonds, allocating and freeing capabilities, connecting them according to the plan, and triggering execution.

+

+Responsibilities

+
    +
  • Discover available interfaces and providers from the capabilities2 server
    • +
  • Establish a bond for plan execution
    • +
  • Allocate (use) and free capabilities as required by the plan
    • +
  • Connect capabilities according to the parsed plan's connections
    • +
  • Trigger the first node to start execution
    • +
+

+Main Methods

+

+Main Methods and Related Services

+ + + + + + + + + + + + + + + + + + + + + +
Method Purpose Related Capability Service
initialize(node) Set up service clients, read service names from capability_client.services.*, and wait for each service to become available (all services below)
getInterfaces(capabilities) Query all available interfaces and populate the list /capabilities/get_interfaces
getSemanticInterfaces(capabilities) Query and append semantic interfaces for each capability /capabilities/get_semantic_interfaces
getProviders(capabilities) Query and set providers and alternatives for each capability /capabilities/get_providers
request_bond() Establish a bond with the server and return the bond ID /capabilities/establish_bond
use_capabilities(plan) Request allocation of all capabilities in the plan /capabilities/use_capability
free_capabilities(plan) Free all started capabilities in the plan /capabilities/free_capability
connect_capabilities(plan) Configure connections between capabilities as per the plan /capabilities/connect_capability
trigger_first_node(plan) Trigger the first capability in the plan to start execution /capabilities/trigger_capability
+

+Usage in Fabric

+
    +
  • The Fabric server creates and initializes a CapabilityClient at startup.
    • +
  • When a plan is processed, the client:
      +
    1. Queries interfaces and providers for all required capabilities.
      2. +
    2. Establishes a bond for the plan.
      3. +
    3. Allocates (uses) all required capabilities.
      4. +
    4. Configures connections between capabilities as specified in the plan's connections.
      5. +
    5. Triggers the first node to start execution.
      6. +
    6. Frees capabilities when the plan is complete or on error.
      7. +
    +
    • +
+

+Example Flow

+
    +
  1. Initialization: initialize(node) sets up all service clients and waits for them to become available.
    2. +
  2. Discovery: getInterfaces() and getProviders() populate the list of capabilities and their providers.
    3. +
  3. Bonding: request_bond() establishes a bond for the plan.
    4. +
  4. Allocation: use_capabilities(plan) allocates all required capabilities.
    5. +
  5. Connection: connect_capabilities(plan) configures the event-driven connections between capabilities.
    6. +
  6. Execution: trigger_first_node(plan) starts the plan execution.
    7. +
  7. Cleanup: free_capabilities(plan) releases all used capabilities.
    8. +
+

+Error Handling

+
    +
  • All service calls are checked for validity and throw fabric::fabric_exception on failure.
    • +
  • The client waits for each service to become available before proceeding. The wait timeout is controlled by capability_client.service_wait_timeout_sec.
    • +
  • If any step fails, capabilities are freed and errors are logged.
    • +
+
+

The CapabilityClient is a central component for orchestrating the dynamic allocation, connection, and management of capabilities in Fabric, ensuring robust and flexible plan execution.

+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/md_docs_2parser__plugins.html b/docs/html/md_docs_2parser__plugins.html new file mode 100644 index 0000000..4e315e8 --- /dev/null +++ b/docs/html/md_docs_2parser__plugins.html @@ -0,0 +1,144 @@ + + + + + + + +Fabric: Parser as a Plugin in Fabric + + + + + + + + + +
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Parser as a Plugin in Fabric
+
+
+

+

+Motivation and Design

+

The parser in Fabric is implemented as a plugin so plan interpretation can be changed without modifying the server. A parser is selected at runtime through the parsing_plugin parameter. This design allows for:

+
    +
  • Backward and forward compatibility: New XML plan formats or schema changes can be supported by simply adding new parser plugins.
    • +
  • Isolation of parsing logic: Each parser encapsulates its own logic for extraction and transformation, reducing the risk of regressions in the core.
    • +
  • Runtime selection: The appropriate parser can be loaded at runtime based on the deployed plan format.
    • +
+

The parser's main responsibility is to convert an XML plan into a fabric::Plan object, which is the internal representation used by the Fabric execution engine.

+

+ParserBase Interface

+

All parser plugins inherit from the ParserBase abstract class, which defines the required interface:

+
    +
  • initialize(const rclcpp::Node::SharedPtr&): Prepares the plugin with the ROS2 node context.
    • +
  • load_file(const std::string&, fabric::Plan&): Loads a plan file and stores its XML text in plan.plan.
    • +
  • check_compatibility(const fabric::Plan&): Performs a lightweight compatibility check for externally submitted plan text.
    • +
  • parse(fabric::Plan&): Parses the XML text already stored in the fabric::Plan.
    • +
+

This ensures that all plugins are interchangeable and can be managed uniformly by the Fabric core.

+

+XMLParserPlugin: Reference Implementation

+

The XMLParserPlugin is the default parser for standard XML plans. Its key features include:

+
    +
  • Syntax validation: Checks for well-formedness, required root tags, and valid control structures.
    • +
  • Plan transformation: Automatically wraps the plan in a top-level sequential control and appends a fabric_capabilities/FabricCompletionRunner with the generated plan_id.
    • +
  • Control flow extraction: Supports control tags sequential, parallel_any, parallel_all, and recovery.
    • +
  • Connection extraction: Recursively traverses the XML tree to build the execution graph (connections) in the fabric::Plan.
    • +
+

+Handling Parallelism: <tt>parallel_all</tt> and <tt>parallel_any</tt>

+
    +
  • **parallel_all**: Represents a control structure where all child runners must complete before proceeding. The plugin inserts a system runner using capabilities2_runner/InputMultiplexRunner with input_count set to the number of branches.
    • +
  • **parallel_any**: Represents a control structure where the plan proceeds as soon as any child runner completes. The plugin inserts a system runner using capabilities2_runner/InputMultiplexRunner with input_count=1.
    • +
+

These are implemented via the add_parallel_all and add_parallel_any methods, which:

    +
  • Count the number of parallel branches.
    • +
  • Insert a system runner node into the plan's connection graph.
    • +
  • Update successor nodes to depend on the correct completion condition (all or any).
    • +
+

+Extracting Connections

+

The parser traverses the XML plan recursively:

    +
  • For each <Control> element, it determines the type (e.g., sequential, parallel_any, parallel_all) and processes its children accordingly.
    • +
  • For <Runner> elements, it requires interface and provider attributes, then converts all other XML attributes into typed EventParameters.
    • +
  • System runners for parallelism are inserted as needed, and unique IDs are assigned to each runner for tracking.
    • +
  • The process ensures that the resulting fabric::Plan accurately represents the intended execution flow, including complex parallel and recovery structures.
    • +
+

+Extending for Multiple Plan Versions

+

To support a new XML plan version or dialect:

    +
  1. Implement a new parser plugin inheriting from ParserBase.
    2. +
  2. Register the plugin so it can be discovered and loaded by Fabric.
    3. +
  3. The core remains unchanged; only the new plugin is added.
    4. +
+

This approach allows Fabric to evolve and support new plan formats without invasive changes to the core system.

+
+

Summary:

    +
  • The parser plugin system keeps XML parsing format-specific code out of the server.
    • +
  • The XMLParserPlugin demonstrates how to handle control flow, parallelism, and connection extraction.
    • +
  • New plan formats can be supported by adding new plugins, keeping the core stable and extensible.
    • +
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/md_docs_2readme.html b/docs/html/md_docs_2readme.html new file mode 100644 index 0000000..68e9b66 --- /dev/null +++ b/docs/html/md_docs_2readme.html @@ -0,0 +1,87 @@ + + + + + + + +Fabric: Docs + + + + + + + + + +
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The documentation site is generated with Doxygen from the existing Markdown in this docs/ tree together with comments from the source code. The Doxygen configuration lives at the repository root in Doxygen.

+
# from the repository root
+
doxygen Doxygen
+

The generated HTML site is written to docs/html/ and the entry page is docs/html/index.html.

+

For GitHub Pages, this repository can use GitHub Actions as both the build source and the deployment source. The workflow in .github/workflows/doxygen-pages.yml rebuilds the site whenever documentation or source files change and deploys the generated docs/html/ artifact to Pages.

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+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/md_docs_2status.html b/docs/html/md_docs_2status.html new file mode 100644 index 0000000..d845362 --- /dev/null +++ b/docs/html/md_docs_2status.html @@ -0,0 +1,138 @@ + + + + + + + +Fabric: Fabric Status System + + + + + + + + + +
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Fabric Status System
+
+
+

+

+Overview

+

Fabric tracks plan lifecycle internally with fabric::PlanStatus and exposes it through fabric_msgs/msg/FabricStatus.

+

+Status Lifecycle

+

The current server code uses the following statuses during normal processing:

+
    +
  • UNKNOWN: Initial or indeterminate state.
    • +
  • QUEUED: Plan is queued for processing.
    • +
  • PARSING: Plan is being parsed.
    • +
  • PARSE_FAILED: Parsing failed due to invalid format or errors.
    • +
  • VALIDATING: Plan is being validated for compatibility.
    • +
  • VALIDATION_FAILED: Validation failed (see rejected_list for reasons).
    • +
  • BONDING: Establishing a bond with the capabilities server.
    • +
  • BOND_FAILED: Failed to establish bond.
    • +
  • CAPABILITY_STARTING: Capabilities are being started.
    • +
  • CAPABILITY_START_FAILED: Failed to start capabilities.
    • +
  • CAPABILITY_CONNECTING: Capabilities are being connected.
    • +
  • CAPABILITY_CONNECT_FAILED: Failed to connect capabilities.
    • +
  • RUNNING: Plan is actively running.
    • +
  • COMPLETED: Plan execution completed successfully.
    • +
  • CANCELLED: Plan execution was cancelled before completion.
    • +
+

When /fabric/cancel_plan targets the active plan, the server now marks it CANCELLED, stops the bond, wakes the processing thread, and frees allocated capabilities before moving on.

+

+Retrieving Plan Status

+

The status of any plan can be retrieved using the /fabric/get_plan_status ROS2 service.

+

Request fields:

+
    +
  • header
    • +
  • plan_id
    • +
+

Response fields:

+
    +
  • header
    • +
  • status as fabric_msgs/msg/FabricStatus
    • +
  • rejected_list
    • +
+

+Example Service Call

+
ros2 service call /fabric/get_plan_status fabric_msgs/srv/GetPlanStatus "{plan_id: '<your_plan_id>'}"
+

+Example Response

+
status:
+
code: 5 # VALIDATION_FAILED
+
rejected_list:
+
- "Missing required capability: foo"
+
- "Incompatible provider: bar"
+

In the current implementation, rejected_list is populated by parser syntax checks. Validation failures from CompatibilityValidation throw immediately and may leave rejected_list empty.

+

+Status Conversion

+

When responding to a status request, the server maps PlanStatus to fabric_msgs/msg/FabricStatus in status_msg().

+

+Extensibility

+

New statuses can be added by extending PlanStatus and updating the status mapping in the server.

+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/md_docs_2structs.html b/docs/html/md_docs_2structs.html new file mode 100644 index 0000000..04fd408 --- /dev/null +++ b/docs/html/md_docs_2structs.html @@ -0,0 +1,203 @@ + + + + + + + +Fabric: Fabric Structs and Their Usage + + + + + + + + + +
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+
Fabric Structs and Their Usage
+
+
+

This document describes the core data structures (structs) used in Fabric, their fields, and how they are used throughout the system.

+

+Overview

+

The main structs are defined in fabric_base/utils/structs.hpp and are central to representing plans, nodes, connections, and capabilities in the Fabric execution engine.

+

+Structs Summary

+ + + + + + + + + + + + + +
Struct Purpose
node Represents a single execution node (runner/capability)
connection Represents a directed connection between nodes
Plan Represents a parsed plan, including all connections
CapabilityInfo Describes a capability's interface, provider, and metadata
event Enumerates supported event hooks (ON_START, ON_SUCCESS, ON_FAILURE, ON_STOP)
+
+

+<tt>node</tt>

+

Represents a single runner or capability in the plan.

+ + + + + + + + + + + +
Field Type Description
interface std::string Interface name of the runner/capability
provider std::string Provider name of the runner/capability
parameters capabilities2_events::EventParameters Runner parameters converted from XML attributes
instance_id int Parser-assigned instance identifier
+

Key Methods:

    +
  • exists() const: Returns true when both interface and provider are set.
    • +
+

Usage:

    +
  • Used as the source and target in connection.
    • +
  • Populated by the parser when extracting runners from the XML plan.
    • +
+
+

+<tt>connection</tt>

+

Represents a directed edge in the plan's execution graph, connecting nodes and specifying control flow.

+ + + + + + + + + + + + + + + +
Field Type Description
source node The source node (runner/capability)
on_start node Node to trigger on start event
on_stop node Node to trigger on stop event
on_success node Node to trigger on success event
on_failure node Node to trigger on failure event
description std::string Human-readable description
+

Usage:

    +
  • Populated by the parser when traversing the XML plan.
    • +
  • Used by the server to determine execution flow and event handling.
    • +
+
+

+<tt>Plan</tt>

+

Represents the entire parsed plan, including all connections and metadata.

+ + + + + + + + + + + + + + + +
Field Type Description
plan_id std::string Generated identifier used for tracking
bond_id std::string Unique bond identifier for the plan
plan std::string Raw XML plan as a string
connections std::map<int, connection> All connections in the plan
rejected_list std::vector<std::string> List of rejected/invalid elements
status PlanStatus Current lifecycle state for the plan
+

Usage:

    +
  • Created and populated by the parser plugin.
    • +
  • Managed by the server (plan_queue_, current_plan_).
    • +
  • Used to drive the execution and capability allocation.
    • +
+
+

+<tt>CapabilityInfo</tt>

+

Describes a capability's interface, provider, and related metadata.

+ + + + + + + + + + + +
Field Type Description
interface std::string Interface name of the capability
provider std::string Provider name of the capability
is_semantic bool Whether the capability is semantic
alt_providers std::vector<std::string> Alternative providers for the capability
+

Usage:

    +
  • Populated by the capability client.
    • +
  • Used by the server to allocate and manage capabilities for a plan.
    • +
+
+

+Example Usage in the System

+
    +
  • The parser plugin reads an XML plan and populates a Plan object, filling its connections map with connection structs, each referencing node structs for runners and control flow.
    • +
  • The server manages a queue of Plan objects (plan_queue_), processes each plan, and uses the connections to trigger capabilities and manage execution events.
    • +
  • CapabilityInfo is used to track and allocate the required capabilities for each plan.
    • +
+

This struct-based design enables clear separation of concerns and extensibility for new plan types, events, and capabilities.

+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/md_docs_2validation__plugins.html b/docs/html/md_docs_2validation__plugins.html new file mode 100644 index 0000000..6dec96e --- /dev/null +++ b/docs/html/md_docs_2validation__plugins.html @@ -0,0 +1,148 @@ + + + + + + + +Fabric: Validation Plugins in Fabric + + + + + + + + + +
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Validation Plugins in Fabric
+
+
+

+

+Motivation and Design

+

Validation plugins in Fabric provide a flexible and extensible mechanism for checking the compatibility and correctness of Fabric plans before execution. By decoupling validation logic from the core, Fabric can support multiple validation strategies and policies without requiring changes to the main system.

+
    +
  • Early error detection: Catch configuration and compatibility issues before plan execution.
    • +
  • Extensibility: New validation plugins can be added to enforce custom rules or policies.
    • +
  • Runtime selection: A validation plugin is selected at runtime through the compatibility_validation_plugin parameter.
    • +
+

+ValidationBase Interface

+

All validation plugins inherit from the ValidationBase abstract class, which defines the required interface:

+
    +
  • initialize(const rclcpp::Node::SharedPtr&): Prepares the plugin with the ROS2 node context.
    • +
  • validate(fabric::Plan&, std::vector<CapabilityInfo>&): Validates the plan against available capabilities.
    • +
+

This ensures that all plugins are interchangeable and can be managed uniformly by the Fabric core.

+

+CompatibilityValidation: Reference Implementation

+

The CompatibilityValidation plugin is the default validator for plan compatibility. Its key features include:

+
    +
  • Interface/provider matching: Ensures every connection source in the parsed plan references a valid capability interface and provider.
    • +
  • Provider flexibility: Supports both default and alternative providers for redundancy.
    • +
  • Error reporting: Throws on the first unmatched interface/provider combination, preventing invalid plans from executing.
    • +
+

+How CompatibilityValidation Works

+
    +
  1. Initialization: The plugin is initialized with the ROS2 node context.
    2. +
  2. Validation: For each connection in the plan:
      +
    • Checks whether the source node's interface and provider match any entry in the provided capabilities list.
      • +
    • If not matched, checks the interface's alt_providers list.
      • +
    • If still unmatched, throws an exception to halt processing.
      • +
    +
    3. +
  3. Result: Only plans with valid capability assignments are allowed to proceed to execution.
    4. +
+

+Main Method

+ + + + + +
Method Purpose
validate(plan, capabilities) Validates each connection's interface/provider against available capabilities.
+

+Example Usage

+
    +
  • The Fabric server loads the validation plugin at startup.
    • +
  • After parsing a plan, the server calls validate(plan, capabilities) before proceeding to capability allocation and execution.
    • +
  • If validation fails, the server marks the plan as VALIDATION_FAILED and logs the exception.
    • +
+

+Extending Validation

+

To support new validation policies:

    +
  1. Implement a new validation plugin inheriting from ValidationBase.
    2. +
  2. Register the plugin so it can be discovered and loaded by Fabric.
    3. +
  3. Configure the compatibility_validation_plugin parameter to load the new plugin.
    4. +
+

The current server loads a single validation plugin instance.

+
+

Summary:

    +
  • The validation plugin system allows Fabric to swap validation strategies without changing the server.
    • +
  • The CompatibilityValidation plugin demonstrates how to enforce capability compatibility and prevent invalid plans from executing.
    • +
  • New validation policies can be supported by adding new plugins, keeping the core stable and extensible.
    • +
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/md_docs_2xml__plan.html b/docs/html/md_docs_2xml__plan.html new file mode 100644 index 0000000..50a8e29 --- /dev/null +++ b/docs/html/md_docs_2xml__plan.html @@ -0,0 +1,118 @@ + + + + + + + +Fabric: XML Plan + + + + + + + + + +
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XML Plan
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Fabric relies on XML plans to define workflows. A plan is submitted either from a file or through the /fabric/set_plan service as raw XML text.

+

The current XML parser accepts only these element types:

+
    +
  • <Plan> as the document root.
    • +
  • <Control> with a required type attribute.
    • +
  • <Runner> with required interface and provider attributes.
    • +
+

Supported control types are:

+
    +
  • sequential
    • +
  • parallel_any
    • +
  • parallel_all
    • +
  • recovery
    • +
+

Any additional attributes on a <Runner> are forwarded into the runner's EventParameters and are auto-typed as bool, int, double, or string.

+

Below is a valid example plan shape:

+
<?xml version='1.0' encoding='UTF-8'?>
+
<Plan name='example_plan'>
+
<Control type='sequential' name='main_execution'>
+
<Runner interface='capabilities2_runner_nav2/WaypointRunner' provider='capabilities2_runner_nav2/WaypointRunner' x='5.0' y='5.0' />
+
+
<Control type='parallel_any' name='gather_context'>
+
<Runner interface='capabilities2_runner_nav2/RobotPoseRunner' provider='capabilities2_runner_nav2/RobotPoseRunner' from='map' to='base_link' />
+
<Runner interface='capabilities2_runner_nav2/OccupancyGridRunner' provider='capabilities2_runner_nav2/OccupancyGridRunner' />
+
</Control>
+
+
<Control type='recovery' name='return_home_on_failure'>
+
<Runner interface='capabilities2_runner_nav2/WaypointRunner' provider='capabilities2_runner_nav2/WaypointRunner' x='0.0' y='0.0' />
+
</Control>
+
</Control>
+
</Plan>
+

Notes:

+
    +
  • You do not need to include a completion runner manually. The parser appends fabric_capabilities/FabricCompletionRunner automatically and injects the generated plan_id.
    • +
  • A plan submitted through /fabric/set_plan only gets a lightweight XML compatibility check up front. Full syntax validation happens during parsing.
    • +
+
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Pull Request Template
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+
+

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+Description

+

Please include a summary of the change and which issue is fixed. Also include relevant motivation and context.

+

Fixes #[issue]

+

+Type of change

+

Please delete options that are not relevant.

+
    +
  • [ ] Bug fix (non-breaking change which fixes an issue)
    • +
  • [ ] New feature (non-breaking change which adds functionality)
    • +
  • [ ] Breaking change (fix or feature that would cause existing functionality to not work as intended)
    • +
  • [ ] This change requires a documentation update
    • +
+

+How Has This Been Tested?

+

Please describe the tests that you ran to verify your changes. Provide details of your testing environment, and the tests you ran to see how your change affects other areas of the code.

+

+Checklist

+
    +
  • [ ] My code follows the style guidelines of this project
    • +
  • [ ] I have performed a self-review of my own code
    • +
  • [ ] I have commented my code, particularly in hard-to-understand areas
    • +
  • [ ] I have made corresponding changes to the documentation
    • +
  • [ ] My changes do not break the build
    • +
  • [ ] I have added tests that prove my fix is effective or that my feature works
    • +
  • [ ] New and existing unit tests pass locally with my changes
    • +
  • [ ] Any dependent changes have been merged and published in downstream modules
    • +
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+Generated by doxygen 1.9.8 +
+ + diff --git a/docs/html/menu.js b/docs/html/menu.js new file mode 100644 index 0000000..b0b2693 --- /dev/null +++ b/docs/html/menu.js @@ -0,0 +1,136 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { + function makeTree(data,relPath) { + var result=''; + if ('children' in data) { + result+='
    '; + for (var i in data.children) { + var url; + var link; + link = data.children[i].url; + if (link.substring(0,1)=='^') { + url = link.substring(1); + } else { + url = relPath+link; + } + result+='
  • '+ + data.children[i].text+''+ + makeTree(data.children[i],relPath)+'
    • '; + } + result+='
'; + } + return result; + } + var searchBoxHtml; + if (searchEnabled) { + if (serverSide) { + searchBoxHtml='
'+ + '
'+ + '
 '+ + ''+ + '
'+ + '
'+ + '
'+ + '
'; + } else { + searchBoxHtml='
'+ + ''+ + ' '+ + ''+ + ''+ + ''+ + ''+ + ''+ + '
'; + } + } + + $('#main-nav').before('
'+ + ''+ + ''+ + '
'); + $('#main-nav').append(makeTree(menudata,relPath)); + $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu'); + if (searchBoxHtml) { + $('#main-menu').append('
  • '); + } + var $mainMenuState = $('#main-menu-state'); + var prevWidth = 0; + if ($mainMenuState.length) { + function initResizableIfExists() { + if (typeof initResizable==='function') initResizable(); + } + // animate mobile menu + $mainMenuState.change(function(e) { + var $menu = $('#main-menu'); + var options = { duration: 250, step: initResizableIfExists }; + if (this.checked) { + options['complete'] = function() { $menu.css('display', 'block') }; + $menu.hide().slideDown(options); + } else { + options['complete'] = function() { $menu.css('display', 'none') }; + $menu.show().slideUp(options); + } + }); + // set default menu visibility + function resetState() { + var $menu = $('#main-menu'); + var $mainMenuState = $('#main-menu-state'); + var newWidth = $(window).outerWidth(); + if (newWidth!=prevWidth) { + if ($(window).outerWidth()<768) { + $mainMenuState.prop('checked',false); $menu.hide(); + $('#searchBoxPos1').html(searchBoxHtml); + $('#searchBoxPos2').hide(); + } else { + $menu.show(); + $('#searchBoxPos1').empty(); + $('#searchBoxPos2').html(searchBoxHtml); + $('#searchBoxPos2').show(); + } + if (typeof searchBox!=='undefined') { + searchBox.CloseResultsWindow(); + } + prevWidth = newWidth; + } + } + $(window).ready(function() { resetState(); initResizableIfExists(); }); + $(window).resize(resetState); + } + $('#main-menu').smartmenus(); +} +/* @license-end */ diff --git a/docs/html/menudata.js b/docs/html/menudata.js new file mode 100644 index 0000000..be49eca --- /dev/null +++ b/docs/html/menudata.js @@ -0,0 +1,102 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file +*/ +var menudata={children:[ +{text:"Main Page",url:"index.html"}, +{text:"Related Pages",url:"pages.html"}, +{text:"Namespaces",url:"namespaces.html",children:[ +{text:"Namespace List",url:"namespaces.html"}, +{text:"Namespace Members",url:"namespacemembers.html",children:[ +{text:"All",url:"namespacemembers.html"}, +{text:"Functions",url:"namespacemembers_func.html"}, +{text:"Enumerations",url:"namespacemembers_enum.html"}, +{text:"Enumerator",url:"namespacemembers_eval.html"}]}]}, +{text:"Classes",url:"annotated.html",children:[ +{text:"Class List",url:"annotated.html"}, +{text:"Class Index",url:"classes.html"}, +{text:"Class Hierarchy",url:"inherits.html"}, +{text:"Class Members",url:"functions.html",children:[ +{text:"All",url:"functions.html",children:[ +{text:"a",url:"functions.html#index_a"}, +{text:"b",url:"functions.html#index_b"}, +{text:"c",url:"functions.html#index_c"}, +{text:"d",url:"functions.html#index_d"}, +{text:"e",url:"functions.html#index_e"}, +{text:"f",url:"functions.html#index_f"}, +{text:"g",url:"functions.html#index_g"}, +{text:"i",url:"functions.html#index_i"}, +{text:"l",url:"functions.html#index_l"}, +{text:"n",url:"functions.html#index_n"}, +{text:"o",url:"functions.html#index_o"}, +{text:"p",url:"functions.html#index_p"}, +{text:"r",url:"functions.html#index_r"}, +{text:"s",url:"functions.html#index_s"}, +{text:"t",url:"functions.html#index_t"}, +{text:"u",url:"functions.html#index_u"}, +{text:"v",url:"functions.html#index_v"}, +{text:"w",url:"functions.html#index_w"}, +{text:"x",url:"functions.html#index_x"}, +{text:"~",url:"functions.html#index__7E"}]}, +{text:"Functions",url:"functions_func.html",children:[ +{text:"a",url:"functions_func.html#index_a"}, +{text:"b",url:"functions_func.html#index_b"}, +{text:"c",url:"functions_func.html#index_c"}, +{text:"e",url:"functions_func.html#index_e"}, +{text:"f",url:"functions_func.html#index_f"}, +{text:"g",url:"functions_func.html#index_g"}, +{text:"i",url:"functions_func.html#index_i"}, +{text:"l",url:"functions_func.html#index_l"}, +{text:"o",url:"functions_func.html#index_o"}, +{text:"p",url:"functions_func.html#index_p"}, +{text:"r",url:"functions_func.html#index_r"}, +{text:"s",url:"functions_func.html#index_s"}, +{text:"t",url:"functions_func.html#index_t"}, +{text:"u",url:"functions_func.html#index_u"}, +{text:"v",url:"functions_func.html#index_v"}, +{text:"w",url:"functions_func.html#index_w"}, +{text:"x",url:"functions_func.html#index_x"}, +{text:"~",url:"functions_func.html#index__7E"}]}, +{text:"Variables",url:"functions_vars.html",children:[ +{text:"a",url:"functions_vars.html#index_a"}, +{text:"b",url:"functions_vars.html#index_b"}, +{text:"c",url:"functions_vars.html#index_c"}, +{text:"d",url:"functions_vars.html#index_d"}, +{text:"e",url:"functions_vars.html#index_e"}, +{text:"f",url:"functions_vars.html#index_f"}, +{text:"g",url:"functions_vars.html#index_g"}, +{text:"i",url:"functions_vars.html#index_i"}, +{text:"n",url:"functions_vars.html#index_n"}, +{text:"o",url:"functions_vars.html#index_o"}, +{text:"p",url:"functions_vars.html#index_p"}, +{text:"r",url:"functions_vars.html#index_r"}, +{text:"s",url:"functions_vars.html#index_s"}, +{text:"t",url:"functions_vars.html#index_t"}, +{text:"u",url:"functions_vars.html#index_u"}, +{text:"v",url:"functions_vars.html#index_v"}]}, +{text:"Typedefs",url:"functions_type.html"}]}]}, +{text:"Files",url:"files.html",children:[ +{text:"File List",url:"files.html"}, +{text:"File Members",url:"globals.html",children:[ +{text:"All",url:"globals.html"}, +{text:"Functions",url:"globals_func.html"}]}]}]} diff --git a/docs/html/minus.svg b/docs/html/minus.svg new file mode 100644 index 0000000..f70d0c1 --- /dev/null +++ b/docs/html/minus.svg @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/docs/html/minusd.svg b/docs/html/minusd.svg new file mode 100644 index 0000000..5f8e879 --- /dev/null +++ b/docs/html/minusd.svg @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/docs/html/namespacefabric.html b/docs/html/namespacefabric.html new file mode 100644 index 0000000..eef898c --- /dev/null +++ b/docs/html/namespacefabric.html @@ -0,0 +1,453 @@ + + + + + + + +Fabric: fabric Namespace Reference + + + + + + + + + +
    +
    + + + + + + +
    +
    Fabric +
    +
    +
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    +Classes | +Enumerations | +Functions
    +
    fabric Namespace Reference
    +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Classes

    class  CapabilityClient
     Class for capability client interactions. More...
     
    struct  CapabilityInfo
     
    class  CompatibilityValidation
     Syntax validation plugin for XML plans. More...
     
    struct  connection
     Structure representing connections between nodes. More...
     
    class  Fabric
     Class representing the main server of the fabric. More...
     
    struct  fabric_exception
     Base class for driver exceptions. More...
     
    struct  node
     Structure representing a node in the fabric. More...
     
    class  ParserBase
     Abstract base class for XML plan parsing plugins. More...
     
    struct  Plan
     
    class  ValidationBase
     Abstract base class for XML plan validation plugins. More...
     
    class  XMLParser
     Syntax validation plugin for XML plans. More...
     
    + + + + + + +

    +Enumerations

    enum  event { ON_START +, ON_SUCCESS +, ON_FAILURE +, ON_STOP + }
     Enumeration for different event types in connections. More...
     
    enum class  PlanStatus {
    +  UNKNOWN +, QUEUED +, PARSING +, PARSE_FAILED +,
    +  VALIDATING +, VALIDATION_FAILED +, BONDING +, BOND_FAILED +,
    +  CAPABILITY_STARTING +, CAPABILITY_START_FAILED +, CAPABILITY_CONNECTING +, CAPABILITY_CONNECT_FAILED +,
    +  RUNNING +, COMPLETED +, CANCELLED +
    + }
     
    + + + + + + + + + + + + + + + + + + +

    +Functions

    bool search (std::vector< std::string > list, std::string value)
     search a string in a vector of strings
     
    tinyxml2::XMLElement * extract_plan (tinyxml2::XMLDocument &document)
     Extract the <Plan> element from the XML document.
     
    bool convert_to_string (tinyxml2::XMLElement *element, std::string &parameters)
     convert XMLElement to std::string
     
    void convert_to_string (tinyxml2::XMLDocument &document_xml, std::string &document_string)
     convert XMLDocument to std::string
     
    bool check_syntax (tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
     check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan
     
     generate_launch_description ()
     
    +

    Enumeration Type Documentation

    + +

    ◆ event

    + +
    +
    + + + + +
    enum fabric::event
    +
    + +

    Enumeration for different event types in connections.

    + + + + + +
    Enumerator
    ON_START 
    ON_SUCCESS 
    ON_FAILURE 
    ON_STOP 
    + +
    +
    + +

    ◆ PlanStatus

    + +
    +
    + + + + + +
    + + + + +
    enum class fabric::PlanStatus
    +     		+strong
    +
    + + + + + + + + + + + + + + + + +
    Enumerator
    UNKNOWN 
    QUEUED 
    PARSING 
    PARSE_FAILED 
    VALIDATING 
    VALIDATION_FAILED 
    BONDING 
    BOND_FAILED 
    CAPABILITY_STARTING 
    CAPABILITY_START_FAILED 
    CAPABILITY_CONNECTING 
    CAPABILITY_CONNECT_FAILED 
    RUNNING 
    COMPLETED 
    CANCELLED 
    + +
    +
    +

    Function Documentation

    + +

    ◆ check_syntax()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    bool fabric::check_syntax (tinyxml2::XMLElement * element,
    std::vector< std::string > & control_list,
    std::vector< std::string > & rejected,
    std::string & error 
    )
    +
    + +

    check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan

    +
    Parameters
    + + + + + +
    elementXML Element to be evaluated
    control_listlist of valid control tags
    rejectedlist containing invalid tags
    erroroutput string for error messages
    +
    +
    +
    Returns
    true if element valid and supported and false otherwise
    + +
    +
    + +

    ◆ convert_to_string() [1/2]

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    void fabric::convert_to_string (tinyxml2::XMLDocument & document_xml,
    std::string & document_string 
    )
    +
    + +

    convert XMLDocument to std::string

    +
    Parameters
    + + +
    documentelement to be converted
    +
    +
    +
    Returns
    std::string converted document
    + +
    +
    + +

    ◆ convert_to_string() [2/2]

    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    bool fabric::convert_to_string (tinyxml2::XMLElement * element,
    std::string & parameters 
    )
    +     		+inline
    +
    + +

    convert XMLElement to std::string

    +
    Parameters
    + + + +
    elementXMLElement element to be converted
    paramtersparameter to hold std::string
    +
    +
    +
    Returns
    true if element is not nullptr and conversion successful, false if element is nullptr
    + +
    +
    + +

    ◆ extract_plan()

    + +
    +
    + + + + + + + + +
    tinyxml2::XMLElement * fabric::extract_plan (tinyxml2::XMLDocument & document)
    +
    + +

    Extract the <Plan> element from the XML document.

    +

    This function checks if the root element of the provided XML document is <Plan>. If so, it returns the first child element of <Plan>. Otherwise, it indicates failure.

    +
    Parameters
    + + +
    documentThe XMLDocument to extract the plan from
    +
    +
    +
    Returns
    tinyxml2::XMLElement* Pointer to the first child of <Plan> if successful, nullptr otherwise
    + +
    +
    + +

    ◆ generate_launch_description()

    + +
    +
    + + + + + + + +
    fabric.generate_launch_description ()
    +
    + +
    +
    + +

    ◆ search()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    bool fabric::search (std::vector< std::string > list,
    std::string value 
    )
    +
    + +

    search a string in a vector of strings

    +
    Parameters
    + + + +
    listvector of strings to be searched
    valuestring to be searched in the vector
    +
    +
    +
    Returns
    true if value is found in list and false otherwise
    + +
    +
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/namespacegenerative.html b/docs/html/namespacegenerative.html new file mode 100644 index 0000000..e6de90f --- /dev/null +++ b/docs/html/namespacegenerative.html @@ -0,0 +1,107 @@ + + + + + + + +Fabric: generative Namespace Reference + + + + + + + + + +
    +
    + + + + + + +
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    Fabric +
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    +Functions

     generate_launch_description ()
     
    +

    Function Documentation

    + +

    ◆ generate_launch_description()

    + +
    +
    + + + + + + + +
    generative.generate_launch_description ()
    +
    + +
    +
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/namespacegenerative__perception.html b/docs/html/namespacegenerative__perception.html new file mode 100644 index 0000000..fb8f9bb --- /dev/null +++ b/docs/html/namespacegenerative__perception.html @@ -0,0 +1,107 @@ + + + + + + + +Fabric: generative_perception Namespace Reference + + + + + + + + + +
    +
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    +
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    +Functions

     generate_launch_description ()
     
    +

    Function Documentation

    + +

    ◆ generate_launch_description()

    + +
    +
    + + + + + + + +
    generative_perception.generate_launch_description ()
    +
    + +
    +
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    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/namespacemembers.html b/docs/html/namespacemembers.html new file mode 100644 index 0000000..b9d4b95 --- /dev/null +++ b/docs/html/namespacemembers.html @@ -0,0 +1,91 @@ + + + + + + + +Fabric: Namespace Members + + + + + + + + + +
    +
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    Here is a list of all namespace members with links to the namespace documentation for each member:
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/namespacemembers_enum.html b/docs/html/namespacemembers_enum.html new file mode 100644 index 0000000..22dc2c9 --- /dev/null +++ b/docs/html/namespacemembers_enum.html @@ -0,0 +1,82 @@ + + + + + + + +Fabric: Namespace Members + + + + + + + + + +
    +
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    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/namespacemembers_eval.html b/docs/html/namespacemembers_eval.html new file mode 100644 index 0000000..051c44a --- /dev/null +++ b/docs/html/namespacemembers_eval.html @@ -0,0 +1,84 @@ + + + + + + + +Fabric: Namespace Members + + + + + + + + + +
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    +
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    + + diff --git a/docs/html/namespacemembers_func.html b/docs/html/namespacemembers_func.html new file mode 100644 index 0000000..4ffd8fb --- /dev/null +++ b/docs/html/namespacemembers_func.html @@ -0,0 +1,85 @@ + + + + + + + +Fabric: Namespace Members + + + + + + + + + +
    +
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    + + diff --git a/docs/html/namespacenongenerative.html b/docs/html/namespacenongenerative.html new file mode 100644 index 0000000..d0fc6e6 --- /dev/null +++ b/docs/html/namespacenongenerative.html @@ -0,0 +1,107 @@ + + + + + + + +Fabric: nongenerative Namespace Reference + + + + + + + + + +
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    +Functions

     generate_launch_description ()
     
    +

    Function Documentation

    + +

    ◆ generate_launch_description()

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    nongenerative.generate_launch_description ()
    +
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    + + diff --git a/docs/html/namespaces.html b/docs/html/namespaces.html new file mode 100644 index 0000000..97d456f --- /dev/null +++ b/docs/html/namespaces.html @@ -0,0 +1,100 @@ + + + + + + + +Fabric: Namespace List + + + + + + + + + +
    +
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    Here is a list of all namespaces with brief descriptions:
    +
    [detail level 12]
    + + + + + + + + + + + + + + + +
     ▼Nfabric
     CCapabilityClientClass for capability client interactions
     CCapabilityInfo
     CCompatibilityValidationSyntax validation plugin for XML plans
     CconnectionStructure representing connections between nodes
     CFabricClass representing the main server of the fabric
     Cfabric_exceptionBase class for driver exceptions
     CnodeStructure representing a node in the fabric
     CParserBaseAbstract base class for XML plan parsing plugins
     CPlan
     CValidationBaseAbstract base class for XML plan validation plugins
     CXMLParserSyntax validation plugin for XML plans
     Ngenerative
     Ngenerative_perception
     Nnongenerative
    +
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z$4eX@iy#tV@8AF>1RPuTR65InWt@Og>RT+8ter9pje&tK-1JpfnFos7kRwr0+SEiF zXgAb0H0aNigpD>-I;<}(AyN-*TUt0ERZ&s-9zuU=QKVau-@YsD;$XLaH2u%{WjlOm zfT<16>5+q^cCZA@ z^*BFJTK6t)qKtmMH5mV)jAZ{k(D`m2*6vZTN&;|{FMV6`g + + + + + + +Fabric: fabric_base/include/fabric_base/parser_base.hpp File Reference + + + + + + + + + +
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    parser_base.hpp File Reference
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    #include <string>
    +#include <vector>
    +#include <rclcpp/rclcpp.hpp>
    +#include <fabric_base/utils/structs.hpp>
    +#include <fabric_base/utils/xml_helper.hpp>
    +
    +Include dependency graph for parser_base.hpp:
    +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    +
    +This graph shows which files directly or indirectly include this file:
    +
    +
    + + + + + + + + + + + + + +
    +
    +

    Go to the source code of this file.

    + + + + + +

    +Classes

    class  fabric::ParserBase
     Abstract base class for XML plan parsing plugins. More...
     
    + + + +

    +Namespaces

    namespace  fabric
     
    +
    + +
    +Generated by doxygen 1.9.8 +
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zHUpv1DQP~24KHJJb16$pX039)5AYV@(~SU%ay1QP5jq9KB%G-F=*-S z?e0Fx9T{&BVvYa#+;eN16QIqnV9vumAlc|PAG&Y`?rfED7hYO=Iwb(%BZPWH{{*r?MO04HzsnW6M6L*6)2(>T!4H&~2 zrlM4VZ}_dOuF+iIrt3Ud)UouSdMZR8P((W{{_poxfGAsE_E6z5Aj65#E&D~mz>xbE z(h;A8FIAc*>byAnK*f9{N0J~tkm?ASUeNKv+Yu5FaDt*1r#I#~m59x@l8Lo+zzw$_ zIyM#7^xHZsxf9lYz+k5t9@trogE+{)$m0;)!?gZ-%GlVTFBwF25y+|IeS~ z5XC$;#cFU~#e?Crf@Na#AVH4LnfyQB_U|nC&(Hh+eXW!G`(G>`*$%qu*S8fg;FqkV Ll0>=qvseEETLD6L literal 0 HcmV?d00001 diff --git a/docs/html/parser__base_8hpp_source.html b/docs/html/parser__base_8hpp_source.html new file mode 100644 index 0000000..b02e4a5 --- /dev/null +++ b/docs/html/parser__base_8hpp_source.html @@ -0,0 +1,151 @@ + + + + + + + +Fabric: fabric_base/include/fabric_base/parser_base.hpp Source File + + + + + + + + + +
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    parser_base.hpp
    +
    +
    +Go to the documentation of this file.
    1#pragma once
    +
    2#include <string>
    +
    3#include <vector>
    +
    4#include <rclcpp/rclcpp.hpp>
    +
    5#include <fabric_base/utils/structs.hpp>
    +
    6#include <fabric_base/utils/xml_helper.hpp>
    +
    7
    +
    +
    8namespace fabric
    +
    9{
    +
    10
    +
    +
    17class ParserBase
    +
    18{
    +
    19public:
    +
    20 virtual ~ParserBase() = default;
    +
    21
    +
    +
    28 virtual void initialize(const rclcpp::Node::SharedPtr& node)
    +
    29 {
    +
    30 initialize_base(node, "ParserBasePlugin");
    +
    31 }
    +
    +
    32
    +
    39 virtual bool load_file(const std::string& file_path, fabric::Plan& plan) = 0;
    +
    40
    +
    47 virtual void parse(fabric::Plan& plan) = 0;
    +
    48
    +
    55 virtual bool check_compatibility(const fabric::Plan& plan) = 0;
    +
    56
    +
    57protected:
    +
    +
    64 void initialize_base(const rclcpp::Node::SharedPtr& node, const std::string& plugin_name)
    +
    65 {
    +
    66 node_ = node;
    +
    67 plugin_name_ = plugin_name;
    +
    68 }
    +
    +
    69
    +
    73 rclcpp::Node::SharedPtr node_;
    +
    74
    +
    78 std::string plugin_name_;
    +
    79};
    +
    +
    80
    +
    81} // namespace fabric
    +
    +
    fabric::ParserBase
    Abstract base class for XML plan parsing plugins.
    Definition parser_base.hpp:18
    +
    fabric::ParserBase::initialize_base
    void initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
    Base initialization method for derived classes.
    Definition parser_base.hpp:64
    +
    fabric::ParserBase::load_file
    virtual bool load_file(const std::string &file_path, fabric::Plan &plan)=0
    load a file into an XML document
    +
    fabric::ParserBase::initialize
    virtual void initialize(const rclcpp::Node::SharedPtr &node)
    Initialize the validation plugin with the given ROS2 node.
    Definition parser_base.hpp:28
    +
    fabric::ParserBase::parse
    virtual void parse(fabric::Plan &plan)=0
    Parse the given XML plan.
    +
    fabric::ParserBase::~ParserBase
    virtual ~ParserBase()=default
    +
    fabric::ParserBase::plugin_name_
    std::string plugin_name_
    Name of the validation plugin.
    Definition parser_base.hpp:78
    +
    fabric::ParserBase::node_
    rclcpp::Node::SharedPtr node_
    Shared pointer to the ROS2 node.
    Definition parser_base.hpp:73
    +
    fabric::ParserBase::check_compatibility
    virtual bool check_compatibility(const fabric::Plan &plan)=0
    Check the compatibility of the given plan with the given parser.
    +
    fabric
    Definition parser_base.hpp:9
    +
    fabric::Plan
    Definition structs.hpp:70
    +
    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
    + +
    xml_helper.hpp
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/parser__plugins_8md.html b/docs/html/parser__plugins_8md.html new file mode 100644 index 0000000..68b6c5d --- /dev/null +++ b/docs/html/parser__plugins_8md.html @@ -0,0 +1,81 @@ + + + + + + + +Fabric: docs/parser_plugins.md File Reference + + + + + + + + + +
    +
    + + + + + + +
    +
    Fabric +
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['nongenerative_0',['nongenerative',['../namespacenongenerative.html',1,'']]] +]; diff --git a/docs/html/search/pages_0.js b/docs/html/search/pages_0.js new file mode 100644 index 0000000..b32a5e3 --- /dev/null +++ b/docs/html/search/pages_0.js @@ -0,0 +1,6 @@ +var searchData= +[ + ['a_20plugin_20in_20fabric_0',['Parser as a Plugin in Fabric',['../md_docs_2parser__plugins.html',1,'']]], + ['and_20their_20usage_1',['Fabric Structs and Their Usage',['../md_docs_2structs.html',1,'']]], + ['as_20a_20plugin_20in_20fabric_2',['Parser as a Plugin in Fabric',['../md_docs_2parser__plugins.html',1,'']]] +]; diff --git a/docs/html/search/pages_1.js b/docs/html/search/pages_1.js new file mode 100644 index 0000000..0f68785 --- /dev/null +++ b/docs/html/search/pages_1.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['bondclient_0',['BondClient',['../md_docs_2bond__client.html',1,'']]] +]; diff --git a/docs/html/search/pages_2.js b/docs/html/search/pages_2.js new file mode 100644 index 0000000..2873163 --- /dev/null +++ b/docs/html/search/pages_2.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['capabilityclient_0',['CapabilityClient',['../md_docs_2capability__client.html',1,'']]] +]; diff --git a/docs/html/search/pages_3.js b/docs/html/search/pages_3.js new file mode 100644 index 0000000..8346e50 --- /dev/null +++ b/docs/html/search/pages_3.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['docs_0',['Docs',['../md_docs_2readme.html',1,'']]] +]; diff --git a/docs/html/search/pages_4.js b/docs/html/search/pages_4.js new file mode 100644 index 0000000..6dad83e --- /dev/null +++ b/docs/html/search/pages_4.js @@ -0,0 +1,6 @@ +var searchData= +[ + ['fabric_0',['fabric',['../index.html',1,'Fabric'],['../md_docs_2parser__plugins.html',1,'Parser as a Plugin in Fabric'],['../md_docs_2validation__plugins.html',1,'Validation Plugins in Fabric']]], + ['fabric_20status_20system_1',['Fabric Status System',['../md_docs_2status.html',1,'']]], + ['fabric_20structs_20and_20their_20usage_2',['Fabric Structs and Their Usage',['../md_docs_2structs.html',1,'']]] +]; diff --git a/docs/html/search/pages_5.js b/docs/html/search/pages_5.js new file mode 100644 index 0000000..4e07a05 --- /dev/null +++ b/docs/html/search/pages_5.js @@ -0,0 +1,5 @@ +var searchData= +[ + ['in_20fabric_0',['in fabric',['../md_docs_2parser__plugins.html',1,'Parser as a Plugin in Fabric'],['../md_docs_2validation__plugins.html',1,'Validation Plugins in Fabric']]], + ['interface_1',['ROS2 Interface',['../md_docs_2api.html',1,'']]] +]; diff --git a/docs/html/search/pages_6.js b/docs/html/search/pages_6.js new file mode 100644 index 0000000..22ed7e9 --- /dev/null +++ b/docs/html/search/pages_6.js @@ -0,0 +1,8 @@ +var searchData= +[ + ['parser_20as_20a_20plugin_20in_20fabric_0',['Parser as a Plugin in Fabric',['../md_docs_2parser__plugins.html',1,'']]], + ['plan_1',['XML Plan',['../md_docs_2xml__plan.html',1,'']]], + ['plugin_20in_20fabric_2',['Parser as a Plugin in Fabric',['../md_docs_2parser__plugins.html',1,'']]], + ['plugins_20in_20fabric_3',['Validation Plugins in Fabric',['../md_docs_2validation__plugins.html',1,'']]], + ['pull_20request_20template_4',['Pull Request Template',['../md_pull__request__template.html',1,'']]] +]; diff --git a/docs/html/search/pages_7.js b/docs/html/search/pages_7.js new file mode 100644 index 0000000..ff1e7f7 --- /dev/null +++ b/docs/html/search/pages_7.js @@ -0,0 +1,5 @@ +var searchData= +[ + ['request_20template_0',['Pull Request Template',['../md_pull__request__template.html',1,'']]], + ['ros2_20interface_1',['ROS2 Interface',['../md_docs_2api.html',1,'']]] +]; diff --git a/docs/html/search/pages_8.js b/docs/html/search/pages_8.js new file mode 100644 index 0000000..fc69c67 --- /dev/null +++ b/docs/html/search/pages_8.js @@ -0,0 +1,6 @@ +var searchData= +[ + ['status_20system_0',['Fabric Status System',['../md_docs_2status.html',1,'']]], + ['structs_20and_20their_20usage_1',['Fabric Structs and Their Usage',['../md_docs_2structs.html',1,'']]], + ['system_2',['Fabric Status System',['../md_docs_2status.html',1,'']]] +]; diff --git a/docs/html/search/pages_9.js b/docs/html/search/pages_9.js new file mode 100644 index 0000000..48a3971 --- /dev/null +++ b/docs/html/search/pages_9.js @@ -0,0 +1,6 @@ +var searchData= +[ + ['template_0',['Pull Request Template',['../md_pull__request__template.html',1,'']]], + ['their_20usage_1',['Fabric Structs and Their Usage',['../md_docs_2structs.html',1,'']]], + ['todo_2',['TODO',['../md_TODO.html',1,'']]] +]; diff --git a/docs/html/search/pages_a.js b/docs/html/search/pages_a.js new file mode 100644 index 0000000..587a68e --- /dev/null +++ b/docs/html/search/pages_a.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['usage_0',['Fabric Structs and Their Usage',['../md_docs_2structs.html',1,'']]] +]; diff --git a/docs/html/search/pages_b.js b/docs/html/search/pages_b.js new file mode 100644 index 0000000..844df2a --- /dev/null +++ b/docs/html/search/pages_b.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['validation_20plugins_20in_20fabric_0',['Validation Plugins in Fabric',['../md_docs_2validation__plugins.html',1,'']]] +]; diff --git a/docs/html/search/pages_c.js b/docs/html/search/pages_c.js new file mode 100644 index 0000000..cd79f1c --- /dev/null +++ b/docs/html/search/pages_c.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['xml_20plan_0',['XML Plan',['../md_docs_2xml__plan.html',1,'']]] +]; diff --git a/docs/html/search/search.css b/docs/html/search/search.css new file mode 100644 index 0000000..19f76f9 --- /dev/null +++ b/docs/html/search/search.css @@ -0,0 +1,291 @@ +/*---------------- Search Box positioning */ + +#main-menu > li:last-child { + /* This
  • object is the parent of the search bar */ + display: flex; + justify-content: center; + align-items: center; + height: 36px; + margin-right: 1em; +} + +/*---------------- Search box styling */ + +.SRPage * { + font-weight: normal; + line-height: normal; +} + +dark-mode-toggle { + margin-left: 5px; + display: flex; + float: right; +} + +#MSearchBox { + display: inline-block; + white-space : nowrap; + background: var(--search-background-color); + border-radius: 0.65em; + box-shadow: var(--search-box-shadow); + z-index: 102; +} + +#MSearchBox .left { + display: inline-block; + vertical-align: middle; + height: 1.4em; +} + +#MSearchSelect { + display: inline-block; + vertical-align: middle; + width: 20px; + height: 19px; + background-image: var(--search-magnification-select-image); + margin: 0 0 0 0.3em; + padding: 0; +} + +#MSearchSelectExt { + display: inline-block; + vertical-align: middle; + width: 10px; + height: 19px; + background-image: var(--search-magnification-image); + margin: 0 0 0 0.5em; + padding: 0; +} + + +#MSearchField { + display: inline-block; + vertical-align: middle; + width: 7.5em; + height: 19px; + margin: 0 0.15em; + padding: 0; + line-height: 1em; + border:none; + color: var(--search-foreground-color); + outline: none; + font-family: var(--font-family-search); + -webkit-border-radius: 0px; + border-radius: 0px; + background: none; +} + +@media(hover: none) { + /* to avoid zooming on iOS */ + #MSearchField { + font-size: 16px; + } +} + +#MSearchBox .right { + display: inline-block; + vertical-align: middle; + width: 1.4em; + height: 1.4em; +} + +#MSearchClose { + display: none; + font-size: inherit; + background : none; + border: none; + margin: 0; + padding: 0; + outline: none; + +} + +#MSearchCloseImg { + padding: 0.3em; + margin: 0; +} + +.MSearchBoxActive #MSearchField { + color: var(--search-active-color); +} + + + +/*---------------- Search filter selection */ + +#MSearchSelectWindow { + display: none; + position: absolute; + left: 0; top: 0; + border: 1px solid var(--search-filter-border-color); + background-color: var(--search-filter-background-color); + z-index: 10001; + padding-top: 4px; + padding-bottom: 4px; + -moz-border-radius: 4px; + -webkit-border-top-left-radius: 4px; + -webkit-border-top-right-radius: 4px; + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +.SelectItem { + font: 8pt var(--font-family-search); + padding-left: 2px; + padding-right: 12px; + border: 0px; +} + +span.SelectionMark { + margin-right: 4px; + font-family: var(--font-family-monospace); + outline-style: none; + text-decoration: none; +} + +a.SelectItem { + display: block; + outline-style: none; + color: var(--search-filter-foreground-color); + text-decoration: none; + padding-left: 6px; + padding-right: 12px; +} + +a.SelectItem:focus, +a.SelectItem:active { + color: var(--search-filter-foreground-color); + outline-style: none; + text-decoration: none; +} + +a.SelectItem:hover { + color: var(--search-filter-highlight-text-color); + background-color: var(--search-filter-highlight-bg-color); + outline-style: none; + text-decoration: none; + cursor: pointer; + display: block; +} + +/*---------------- Search results window */ + +iframe#MSearchResults { + /*width: 60ex;*/ + height: 15em; +} + +#MSearchResultsWindow { + display: none; + position: absolute; + left: 0; top: 0; + border: 1px solid var(--search-results-border-color); + background-color: var(--search-results-background-color); + z-index:10000; + width: 300px; + height: 400px; + overflow: auto; +} + +/* ----------------------------------- */ + + +#SRIndex { + clear:both; +} + +.SREntry { + font-size: 10pt; + padding-left: 1ex; +} + +.SRPage .SREntry { + font-size: 8pt; + padding: 1px 5px; +} + +div.SRPage { + margin: 5px 2px; + background-color: var(--search-results-background-color); +} + +.SRChildren { + padding-left: 3ex; padding-bottom: .5em +} + +.SRPage .SRChildren { + display: none; +} + +.SRSymbol { + font-weight: bold; + color: var(--search-results-foreground-color); + font-family: var(--font-family-search); + text-decoration: none; + outline: none; +} + +a.SRScope { + display: block; + color: var(--search-results-foreground-color); + font-family: var(--font-family-search); + font-size: 8pt; + text-decoration: none; + outline: none; +} + +a.SRSymbol:focus, a.SRSymbol:active, +a.SRScope:focus, a.SRScope:active { + text-decoration: underline; +} + +span.SRScope { + padding-left: 4px; + font-family: var(--font-family-search); +} + +.SRPage .SRStatus { + padding: 2px 5px; + font-size: 8pt; + font-style: italic; + font-family: var(--font-family-search); +} + +.SRResult { + display: none; +} + +div.searchresults { + margin-left: 10px; + margin-right: 10px; +} + +/*---------------- External search page results */ + +.pages b { + color: white; + padding: 5px 5px 3px 5px; + background-image: var(--nav-gradient-active-image-parent); + background-repeat: repeat-x; + text-shadow: 0 1px 1px #000000; +} + +.pages { + line-height: 17px; + margin-left: 4px; + text-decoration: none; +} + +.hl { + font-weight: bold; +} + +#searchresults { + margin-bottom: 20px; +} + +.searchpages { + margin-top: 10px; +} + diff --git a/docs/html/search/search.js b/docs/html/search/search.js new file mode 100644 index 0000000..6fd40c6 --- /dev/null +++ b/docs/html/search/search.js @@ -0,0 +1,840 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function convertToId(search) +{ + var result = ''; + for (i=0;i do a search + { + this.Search(); + } + } + + this.OnSearchSelectKey = function(evt) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==40 && this.searchIndex0) // Up + { + this.searchIndex--; + this.OnSelectItem(this.searchIndex); + } + else if (e.keyCode==13 || e.keyCode==27) + { + e.stopPropagation(); + this.OnSelectItem(this.searchIndex); + this.CloseSelectionWindow(); + this.DOMSearchField().focus(); + } + return false; + } + + // --------- Actions + + // Closes the results window. + this.CloseResultsWindow = function() + { + this.DOMPopupSearchResultsWindow().style.display = 'none'; + this.DOMSearchClose().style.display = 'none'; + this.Activate(false); + } + + this.CloseSelectionWindow = function() + { + this.DOMSearchSelectWindow().style.display = 'none'; + } + + // Performs a search. + this.Search = function() + { + this.keyTimeout = 0; + + // strip leading whitespace + var searchValue = this.DOMSearchField().value.replace(/^ +/, ""); + + var code = searchValue.toLowerCase().charCodeAt(0); + var idxChar = searchValue.substr(0, 1).toLowerCase(); + if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair + { + idxChar = searchValue.substr(0, 2); + } + + var jsFile; + + var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); + if (idx!=-1) + { + var hexCode=idx.toString(16); + jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js'; + } + + var loadJS = function(url, impl, loc){ + var scriptTag = document.createElement('script'); + scriptTag.src = url; + scriptTag.onload = impl; + scriptTag.onreadystatechange = impl; + loc.appendChild(scriptTag); + } + + var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); + var domSearchBox = this.DOMSearchBox(); + var domPopupSearchResults = this.DOMPopupSearchResults(); + var domSearchClose = this.DOMSearchClose(); + var resultsPath = this.resultsPath; + + var handleResults = function() { + document.getElementById("Loading").style.display="none"; + if (typeof searchData !== 'undefined') { + createResults(resultsPath); + document.getElementById("NoMatches").style.display="none"; + } + + if (idx!=-1) { + searchResults.Search(searchValue); + } else { // no file with search results => force empty search results + searchResults.Search('===='); + } + + if (domPopupSearchResultsWindow.style.display!='block') + { + domSearchClose.style.display = 'inline-block'; + var left = getXPos(domSearchBox) + 150; + var top = getYPos(domSearchBox) + 20; + domPopupSearchResultsWindow.style.display = 'block'; + left -= domPopupSearchResults.offsetWidth; + var maxWidth = document.body.clientWidth; + var maxHeight = document.body.clientHeight; + var width = 300; + if (left<10) left=10; + if (width+left+8>maxWidth) width=maxWidth-left-8; + var height = 400; + if (height+top+8>maxHeight) height=maxHeight-top-8; + domPopupSearchResultsWindow.style.top = top + 'px'; + domPopupSearchResultsWindow.style.left = left + 'px'; + domPopupSearchResultsWindow.style.width = width + 'px'; + domPopupSearchResultsWindow.style.height = height + 'px'; + } + } + + if (jsFile) { + loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow()); + } else { + handleResults(); + } + + this.lastSearchValue = searchValue; + } + + // -------- Activation Functions + + // Activates or deactivates the search panel, resetting things to + // their default values if necessary. + this.Activate = function(isActive) + { + if (isActive || // open it + this.DOMPopupSearchResultsWindow().style.display == 'block' + ) + { + this.DOMSearchBox().className = 'MSearchBoxActive'; + this.searchActive = true; + } + else if (!isActive) // directly remove the panel + { + this.DOMSearchBox().className = 'MSearchBoxInactive'; + this.searchActive = false; + this.lastSearchValue = '' + this.lastResultsPage = ''; + this.DOMSearchField().value = ''; + } + } +} + +// ----------------------------------------------------------------------- + +// The class that handles everything on the search results page. +function SearchResults(name) +{ + // The number of matches from the last run of . + this.lastMatchCount = 0; + this.lastKey = 0; + this.repeatOn = false; + + // Toggles the visibility of the passed element ID. + this.FindChildElement = function(id) + { + var parentElement = document.getElementById(id); + var element = parentElement.firstChild; + + while (element && element!=parentElement) + { + if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') + { + return element; + } + + if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) + { + element = element.firstChild; + } + else if (element.nextSibling) + { + element = element.nextSibling; + } + else + { + do + { + element = element.parentNode; + } + while (element && element!=parentElement && !element.nextSibling); + + if (element && element!=parentElement) + { + element = element.nextSibling; + } + } + } + } + + this.Toggle = function(id) + { + var element = this.FindChildElement(id); + if (element) + { + if (element.style.display == 'block') + { + element.style.display = 'none'; + } + else + { + element.style.display = 'block'; + } + } + } + + // Searches for the passed string. If there is no parameter, + // it takes it from the URL query. + // + // Always returns true, since other documents may try to call it + // and that may or may not be possible. + this.Search = function(search) + { + if (!search) // get search word from URL + { + search = window.location.search; + search = search.substring(1); // Remove the leading '?' + search = unescape(search); + } + + search = search.replace(/^ +/, ""); // strip leading spaces + search = search.replace(/ +$/, ""); // strip trailing spaces + search = search.toLowerCase(); + search = convertToId(search); + + var resultRows = document.getElementsByTagName("div"); + var matches = 0; + + var i = 0; + while (i < resultRows.length) + { + var row = resultRows.item(i); + if (row.className == "SRResult") + { + var rowMatchName = row.id.toLowerCase(); + rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' + + if (search.length<=rowMatchName.length && + rowMatchName.substr(0, search.length)==search) + { + row.style.display = 'block'; + matches++; + } + else + { + row.style.display = 'none'; + } + } + i++; + } + document.getElementById("Searching").style.display='none'; + if (matches == 0) // no results + { + document.getElementById("NoMatches").style.display='block'; + } + else // at least one result + { + document.getElementById("NoMatches").style.display='none'; + } + this.lastMatchCount = matches; + return true; + } + + // return the first item with index index or higher that is visible + this.NavNext = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index++; + } + return focusItem; + } + + this.NavPrev = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index--; + } + return focusItem; + } + + this.ProcessKeys = function(e) + { + if (e.type == "keydown") + { + this.repeatOn = false; + this.lastKey = e.keyCode; + } + else if (e.type == "keypress") + { + if (!this.repeatOn) + { + if (this.lastKey) this.repeatOn = true; + return false; // ignore first keypress after keydown + } + } + else if (e.type == "keyup") + { + this.lastKey = 0; + this.repeatOn = false; + } + return this.lastKey!=0; + } + + this.Nav = function(evt,itemIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + var newIndex = itemIndex-1; + var focusItem = this.NavPrev(newIndex); + if (focusItem) + { + var child = this.FindChildElement(focusItem.parentNode.parentNode.id); + if (child && child.style.display == 'block') // children visible + { + var n=0; + var tmpElem; + while (1) // search for last child + { + tmpElem = document.getElementById('Item'+newIndex+'_c'+n); + if (tmpElem) + { + focusItem = tmpElem; + } + else // found it! + { + break; + } + n++; + } + } + } + if (focusItem) + { + focusItem.focus(); + } + else // return focus to search field + { + document.getElementById("MSearchField").focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = itemIndex+1; + var focusItem; + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem && elem.style.display == 'block') // children visible + { + focusItem = document.getElementById('Item'+itemIndex+'_c0'); + } + if (!focusItem) focusItem = this.NavNext(newIndex); + if (focusItem) focusItem.focus(); + } + else if (this.lastKey==39) // Right + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'block'; + } + else if (this.lastKey==37) // Left + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'none'; + } + else if (this.lastKey==27) // Escape + { + e.stopPropagation(); + searchBox.CloseResultsWindow(); + document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } + + this.NavChild = function(evt,itemIndex,childIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + if (childIndex>0) + { + var newIndex = childIndex-1; + document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); + } + else // already at first child, jump to parent + { + document.getElementById('Item'+itemIndex).focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = childIndex+1; + var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); + if (!elem) // last child, jump to parent next parent + { + elem = this.NavNext(itemIndex+1); + } + if (elem) + { + elem.focus(); + } + } + else if (this.lastKey==27) // Escape + { + e.stopPropagation(); + searchBox.CloseResultsWindow(); + document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } +} + +function setKeyActions(elem,action) +{ + elem.setAttribute('onkeydown',action); + elem.setAttribute('onkeypress',action); + elem.setAttribute('onkeyup',action); +} + +function setClassAttr(elem,attr) +{ + elem.setAttribute('class',attr); + elem.setAttribute('className',attr); +} + +function createResults(resultsPath) +{ + var results = document.getElementById("SRResults"); + results.innerHTML = ''; + for (var e=0; e + + + + + + +Fabric: fabric_server/include/fabric_server/server.hpp File Reference + + + + + + + + + +
    +
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    Fabric +
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    server.hpp File Reference
    +
    +
    +
    #include <map>
    +#include <deque>
    +#include <string>
    +#include <thread>
    +#include <ament_index_cpp/get_package_share_directory.hpp>
    +#include <tinyxml2.h>
    +#include <uuid/uuid.h>
    +#include <rclcpp/rclcpp.hpp>
    +#include <pluginlib/class_loader.hpp>
    +#include <fabric_base/utils/xml_helper.hpp>
    +#include <fabric_base/utils/structs.hpp>
    +#include <fabric_base/validation_base.hpp>
    +#include <fabric_base/parser_base.hpp>
    +#include <fabric_server/capability_client.hpp>
    +#include <fabric_server/bond_client.hpp>
    +#include <fabric_msgs/srv/set_fabric_plan.hpp>
    +#include <fabric_msgs/srv/cancel_fabric_plan.hpp>
    +#include <fabric_msgs/srv/complete_fabric.hpp>
    +#include <fabric_msgs/srv/get_plan_status.hpp>
    +#include <fabric_msgs/msg/fabric_status.hpp>
    +
    +Include dependency graph for server.hpp:
    +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    +
    +This graph shows which files directly or indirectly include this file:
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    Go to the source code of this file.

    + + + + + +

    +Classes

    class  fabric::Fabric
     Class representing the main server of the fabric. More...
     
    + + + +

    +Namespaces

    namespace  fabric
     
    +
    + +
    +Generated by doxygen 1.9.8 +
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z%h1aIZhxkDORmb54ZbCVkdP1|tM(Jf{v)pk7JNp|uiD{Kx5B>+>pwg2w|`ztkT`(c zGI88?Sqf4}EVV{FxbPfQoMeC=XVl*R?EF6d^4&2?X31N1eg_u$#+A+-m+y2xh9~jwKYJvCN&GSrw(1K9tI_PT@H`amgC+Qwnf!1N|QCw(5(Go?z$H@3pj` zgd2j_jq>k}-T1?W+vB-QGSDE86euAFIIu_ z(seuD@@*)W5f0mW+^ZpRL1522$#$}%hrU<<4)6vC2RkX>HlBHHK|&W!wj?|3dkO0H zDzc?YlfIIu6MtJ#>gdbq4lK%n|KDw~Q`B{TyV>>6wxyuJo$$Jd@Q>I0?|Ve||C7x5 z&oZ`4sQ*Jl=f8ntQJmvXRK$ON_DRz05pF4zg!kJwZ*IFCXY*6h(10rQfBc-0CtKd! xLJncJS0<5QjC(2=%lzoSulB$4Uv|F#Ce#el3&cKsQ-p$tvZA^|-c_?l{|7OBKR5sY literal 0 HcmV?d00001 diff --git a/docs/html/server_8hpp_source.html b/docs/html/server_8hpp_source.html new file mode 100644 index 0000000..7c70e67 --- /dev/null +++ b/docs/html/server_8hpp_source.html @@ -0,0 +1,716 @@ + + + + + + + +Fabric: fabric_server/include/fabric_server/server.hpp Source File + + + + + + + + + + +
    +
    server.hpp
    +
    +
    +Go to the documentation of this file.
    1#pragma once
    +
    2
    +
    3#include <map>
    +
    4#include <deque>
    +
    5#include <string>
    +
    6#include <thread>
    +
    7
    +
    8#include <ament_index_cpp/get_package_share_directory.hpp>
    +
    9#include <tinyxml2.h>
    +
    10#include <uuid/uuid.h>
    +
    11#include <rclcpp/rclcpp.hpp>
    +
    12#include <pluginlib/class_loader.hpp>
    +
    13
    +
    14#include <fabric_base/utils/xml_helper.hpp>
    +
    15#include <fabric_base/utils/structs.hpp>
    +
    16#include <fabric_base/validation_base.hpp>
    +
    17#include <fabric_base/parser_base.hpp>
    +
    18
    +
    19#include <fabric_server/capability_client.hpp>
    +
    20#include <fabric_server/bond_client.hpp>
    +
    21
    +
    22#include <fabric_msgs/srv/set_fabric_plan.hpp>
    +
    23#include <fabric_msgs/srv/cancel_fabric_plan.hpp>
    +
    24#include <fabric_msgs/srv/complete_fabric.hpp>
    +
    25#include <fabric_msgs/srv/get_plan_status.hpp>
    +
    26#include <fabric_msgs/msg/fabric_status.hpp>
    +
    27
    +
    28namespace fabric
    +
    29{
    +
    30
    +
    +
    35class Fabric : public rclcpp::Node
    +
    36{
    +
    37public:
    +
    38 using SetFabricPlan = fabric_msgs::srv::SetFabricPlan;
    +
    39 using CancelFabricPlan = fabric_msgs::srv::CancelFabricPlan;
    +
    40 using CompleteFabric = fabric_msgs::srv::CompleteFabric;
    +
    41 using GetPlanStatus = fabric_msgs::srv::GetPlanStatus;
    +
    42
    +
    +
    48 Fabric(const rclcpp::NodeOptions& options = rclcpp::NodeOptions())
    +
    49 : Node("Fabric", options)
    +
    50 , validation_loader_("fabric_base", "fabric::ValidationBase")
    +
    51 , parsing_loader_("fabric_base", "fabric::ParserBase")
    +
    52 {
    +
    53 try
    +
    54 {
    +
    55 // Only call setup if this object is already owned by a shared_ptr
    +
    56 if (shared_from_this())
    +
    57 {
    +
    58 initialize();
    +
    59 }
    +
    60 }
    +
    61 catch (const std::bad_weak_ptr&)
    +
    62 {
    +
    63 // Not yet safe — probably standalone without make_shared
    +
    64 }
    +
    65 }
    +
    +
    66
    +
    +
    71 void initialize()
    +
    72 {
    +
    73 /*************************************************************************
    +
    74 * Parameters
    +
    75 ************************************************************************/
    +
    76 const std::string default_plan_file_path = ament_index_cpp::get_package_share_directory("fabric_server") + "/plans/default.xml";
    +
    77 this->declare_parameter("plan_file_path", default_plan_file_path);
    +
    78 plan_file_path_ = this->get_parameter("plan_file_path").as_string();
    +
    79
    +
    80 /*************************************************************************
    +
    81 * Fabric services
    +
    82 ************************************************************************/
    +
    83 plan_server_ = this->create_service<SetFabricPlan>("/fabric/set_plan",
    +
    84 std::bind(&Fabric::setPlanCallback, this, std::placeholders::_1, std::placeholders::_2));
    +
    85
    +
    86 cancel_server_ = this->create_service<CancelFabricPlan>(
    +
    87 "/fabric/cancel_plan", std::bind(&Fabric::cancelPlanCallback, this, std::placeholders::_1, std::placeholders::_2));
    +
    88
    +
    89 completion_server_ = this->create_service<CompleteFabric>(
    +
    90 "/fabric/set_completion", std::bind(&Fabric::setCompleteCallback, this, std::placeholders::_1, std::placeholders::_2));
    +
    91
    +
    92 get_plan_status_server_ = this->create_service<GetPlanStatus>(
    +
    93 "/fabric/get_plan_status", std::bind(&Fabric::getPlanStatusCallback, this, std::placeholders::_1, std::placeholders::_2));
    +
    94
    +
    95 /*************************************************************************
    +
    96 * Initialize Compatibility Validation Plugin
    +
    97 ************************************************************************/
    +
    98
    +
    99 this->declare_parameter("compatibility_validation_plugin", "fabric::CompatibilityValidation");
    +
    100 std::string compatibility_validation_plugin_name = this->get_parameter("compatibility_validation_plugin").as_string();
    +
    101
    +
    102 RCLCPP_INFO(this->get_logger(), "[server] Loading compatibility validation plugin: %s", compatibility_validation_plugin_name.c_str());
    +
    103
    +
    104 compatibility_validation_plugin_ = validation_loader_.createSharedInstance(compatibility_validation_plugin_name);
    +
    105 compatibility_validation_plugin_->initialize(shared_from_this());
    +
    106
    +
    107 RCLCPP_INFO(this->get_logger(), "[server] Initialized compatibility validation plugin: %s", compatibility_validation_plugin_name.c_str());
    +
    108
    +
    109 /*************************************************************************
    +
    110 * Initialize Parsing Plugins
    +
    111 ************************************************************************/
    +
    112
    +
    113 this->declare_parameter("parsing_plugin", "fabric::XMLParser");
    +
    114 std::string parsing_plugin_name = this->get_parameter("parsing_plugin").as_string();
    +
    115
    +
    116 RCLCPP_INFO(this->get_logger(), "[server] Loading parsing plugin: %s", parsing_plugin_name.c_str());
    +
    117
    +
    118 parsing_plugin_ = parsing_loader_.createSharedInstance(parsing_plugin_name);
    +
    119 parsing_plugin_->initialize(shared_from_this());
    +
    120
    +
    121 RCLCPP_INFO(this->get_logger(), "[server] Initialized parsing plugin: %s", parsing_plugin_name.c_str());
    +
    122
    +
    123 /*************************************************************************
    +
    124 * Initialize internal components
    +
    125 ************************************************************************/
    +
    126 capability_client_ = std::make_shared<CapabilityClient>();
    +
    127 capability_client_->initialize(this->shared_from_this());
    +
    128
    +
    129 /*************************************************************************
    +
    130 * Load Starter plan from file
    +
    131 ************************************************************************/
    +
    132 fabric::Plan starter_plan;
    +
    133 if (!parsing_plugin_->load_file(plan_file_path_, starter_plan))
    +
    134 {
    +
    135 RCLCPP_ERROR(this->get_logger(), "[server] Failed to load default plan from file: %s", plan_file_path_.c_str());
    +
    136 throw fabric::fabric_exception("Failed to load default plan");
    +
    137 }
    +
    138 starter_plan.plan_id = generate_uuid();
    +
    139 starter_plan.status = PlanStatus::QUEUED;
    +
    140
    +
    141 plan_queue_.push_back(starter_plan);
    +
    142
    +
    143 RCLCPP_INFO(this->get_logger(), "[server] Fabric node initialized");
    +
    144
    +
    145 /*************************************************************************
    +
    146 * Initialize process thread
    +
    147 ************************************************************************/
    +
    148
    +
    149 process_thread = std::thread(&Fabric::process, this);
    +
    150 }
    +
    +
    151
    +
    152protected:
    +
    +
    157 void process()
    +
    158 {
    +
    159 while (plan_queue_.size() > 0)
    +
    160 {
    +
    161 // reset internal data structures
    +
    162 reset();
    +
    163
    +
    164 RCLCPP_INFO(this->get_logger(), "[server] A new Fabric plan processing starting");
    +
    165
    +
    166 // get the next plan and parse it into a XML document
    +
    167 current_plan_ = plan_queue_.front();
    +
    168 plan_queue_.pop_front();
    +
    169
    +
    170 if (current_plan_.status == PlanStatus::CANCELLED)
    +
    171 {
    +
    172 RCLCPP_INFO(this->get_logger(), "[server] Skipping cancelled plan with id: %s", current_plan_.plan_id.c_str());
    +
    173 continue;
    +
    174 }
    +
    175
    +
    176 // parse the plan to extract connections (Fabric::Plan) as per the parsing plugin
    +
    177 try
    +
    178 {
    +
    179 RCLCPP_INFO(this->get_logger(), "[server] Parsing the fabric plan.");
    +
    180 current_plan_.status = PlanStatus::PARSING;
    +
    181
    +
    182 parsing_plugin_->parse(current_plan_);
    +
    183 }
    +
    184 catch (const fabric::fabric_exception& e)
    +
    185 {
    +
    186 RCLCPP_ERROR(this->get_logger(), "[server] Fabric plan parsing failed with error: %s", e.what());
    +
    187 current_plan_.status = PlanStatus::PARSE_FAILED;
    +
    188 continue;
    +
    189 }
    +
    190 RCLCPP_INFO(this->get_logger(), "[server] Fabric plan parsing completed successfully.");
    +
    191
    +
    192 // get the capabilities required for the plan
    +
    193 try
    +
    194 {
    +
    195 RCLCPP_INFO(this->get_logger(), "[server] Getting capabilities required for the plan.");
    +
    196 current_plan_.status = PlanStatus::VALIDATING;
    +
    197 capability_client_->getInterfaces(capability_list_);
    +
    198 capability_client_->getSemanticInterfaces(capability_list_);
    +
    199 capability_client_->getProviders(capability_list_);
    +
    200 }
    +
    201 catch (const fabric::fabric_exception& e)
    +
    202 {
    +
    203 RCLCPP_ERROR(this->get_logger(), "[server] Capability information retrieval failed with error: %s", e.what());
    +
    204 current_plan_.status = PlanStatus::VALIDATION_FAILED;
    +
    205 continue;
    +
    206 }
    +
    207
    +
    208 RCLCPP_INFO(this->get_logger(), "[server] Capability information retrieval completed successfully.");
    +
    209
    +
    210 // validate the plan for compatibility as per the validation plugin
    +
    211 try
    +
    212 {
    +
    213 RCLCPP_INFO(this->get_logger(), "[server] Validating the fabric plan for compatibility.");
    +
    214
    +
    215 compatibility_validation_plugin_->validate(current_plan_, capability_list_);
    +
    216 }
    +
    217 catch (const fabric::fabric_exception& e)
    +
    218 {
    +
    219 RCLCPP_ERROR(this->get_logger(), "[server] Compatibility validation failed with error: %s", e.what());
    +
    220 current_plan_.status = PlanStatus::VALIDATION_FAILED;
    +
    221 continue;
    +
    222 }
    +
    223
    +
    224 // Request bond from capabilities2 server
    +
    225 try
    +
    226 {
    +
    227 RCLCPP_INFO(this->get_logger(), "[server] Requesting bond from capabilities2 server.");
    +
    228 current_plan_.status = PlanStatus::BONDING;
    +
    229
    +
    230 current_plan_.bond_id = capability_client_->request_bond();
    +
    231 }
    +
    232 catch (const fabric::fabric_exception& e)
    +
    233 {
    +
    234 RCLCPP_ERROR(this->get_logger(), "[server] Capability bond request failed with error: %s", e.what());
    +
    235 current_plan_.status = PlanStatus::BOND_FAILED;
    +
    236 continue;
    +
    237 }
    +
    238
    +
    239 // Start new bond client for the new bond id
    +
    240 RCLCPP_INFO(this->get_logger(), "[server] Establishing bond with id : %s", current_plan_.bond_id.c_str());
    +
    241 bond_client_cache_[current_plan_.bond_id] = std::make_unique<BondClient>(shared_from_this(), current_plan_.bond_id);
    +
    242 bond_client_cache_[current_plan_.bond_id]->start();
    +
    243
    +
    244 // Remove old bonds if any
    +
    245 if (bond_client_cache_.size() > 1)
    +
    246 for (auto& [old_bond_id, bond_client] : bond_client_cache_)
    +
    247 if (old_bond_id != current_plan_.bond_id)
    +
    248 {
    +
    249 bond_client->stop();
    +
    250 RCLCPP_INFO(this->get_logger(), "[server] Stopping and removing old bond with id : %s", old_bond_id.c_str());
    +
    251 }
    +
    252
    +
    253 RCLCPP_INFO(this->get_logger(), "[server] Bond established with id : %s", current_plan_.bond_id.c_str());
    +
    254
    +
    255 // Request use of capabilities for the plan
    +
    256 try
    +
    257 {
    +
    258 RCLCPP_INFO(this->get_logger(), "[server] Requesting use of capabilities for the plan.");
    +
    259 current_plan_.status = PlanStatus::CAPABILITY_STARTING;
    +
    260
    +
    261 capability_client_->use_capabilities(current_plan_);
    +
    262 }
    +
    263 catch (const fabric::fabric_exception& e)
    +
    264 {
    +
    265 RCLCPP_ERROR(this->get_logger(), "[server] Capability usage failed with error: %s", e.what());
    +
    266 current_plan_.status = PlanStatus::CAPABILITY_START_FAILED;
    +
    267
    +
    268 capability_client_->free_capabilities(current_plan_);
    +
    269 continue;
    +
    270 }
    +
    271
    +
    272 // connect the capabilities as per the plan
    +
    273 try
    +
    274 {
    +
    275 RCLCPP_INFO(this->get_logger(), "[server] Connecting capabilities as per the plan.");
    +
    276 current_plan_.status = PlanStatus::CAPABILITY_CONNECTING;
    +
    277
    +
    278 capability_client_->connect_capabilities(current_plan_);
    +
    279 }
    +
    280 catch (const fabric::fabric_exception& e)
    +
    281 {
    +
    282 RCLCPP_ERROR(this->get_logger(), "[server] Capability connection failed with error: %s", e.what());
    +
    283 current_plan_.status = PlanStatus::CAPABILITY_CONNECT_FAILED;
    +
    284
    +
    285 capability_client_->free_capabilities(current_plan_);
    +
    286 continue;
    +
    287 }
    +
    288
    +
    289 RCLCPP_INFO(this->get_logger(), "[server] Capabilities connected successfully.");
    +
    290
    +
    291 // trigger the first capability in the plan
    +
    292 try
    +
    293 {
    +
    294 RCLCPP_INFO(this->get_logger(), "[server] Triggering the first capability in the plan.");
    +
    295 current_plan_.status = PlanStatus::RUNNING;
    +
    296
    +
    297 capability_client_->trigger_first_node(current_plan_);
    +
    298 }
    +
    299 catch (const fabric::fabric_exception& e)
    +
    300 {
    +
    301 RCLCPP_ERROR(this->get_logger(), "[server] Capability trigger failed with error: %s", e.what());
    +
    302 }
    +
    303
    +
    304 RCLCPP_INFO(this->get_logger(), "[server] First capability triggered successfully.");
    +
    305
    +
    306 // wait for the plan to complete
    +
    307 {
    +
    308 std::unique_lock<std::mutex> lock(plan_mutex_);
    +
    309 plan_cv_.wait(lock, [this]() { return plan_completed_; });
    +
    310 }
    +
    311
    +
    312 if (current_plan_.status == PlanStatus::CANCELLED)
    +
    313 {
    +
    314 RCLCPP_INFO(this->get_logger(), "[server] Fabric plan cancelled. Releasing capabilities.");
    +
    315 capability_client_->free_capabilities(current_plan_);
    +
    316 continue;
    +
    317 }
    +
    318
    +
    319 current_plan_.status = PlanStatus::COMPLETED;
    +
    320 RCLCPP_INFO(this->get_logger(), "[server] Fabric processing completed. Waiting for next plan.");
    +
    321 }
    +
    322 }
    +
    +
    323
    +
    +
    327 void setPlanCallback(const std::shared_ptr<SetFabricPlan::Request> request, std::shared_ptr<SetFabricPlan::Response> response)
    +
    328 {
    +
    329 RCLCPP_INFO(this->get_logger(), "[server] Received the request with a plan");
    +
    330
    +
    331 fabric::Plan new_plan;
    +
    332 new_plan.plan = request->plan;
    +
    333 new_plan.plan_id = generate_uuid();
    +
    334 new_plan.status = PlanStatus::QUEUED;
    +
    335
    +
    336 if (!parsing_plugin_->check_compatibility(new_plan))
    +
    337 {
    +
    338 RCLCPP_ERROR(this->get_logger(), "[server] Plan received via service request not compatible with the loaded parser.");
    +
    339 response->plan_id = "";
    +
    340 response->error = "[server] Plan is not compatible with the loaded parser.";
    +
    341 return;
    +
    342 }
    +
    343 RCLCPP_INFO(this->get_logger(), "[server] Plan accepted from service request message");
    +
    344
    +
    345 plan_queue_.push_back(new_plan);
    +
    346 response->plan_id = new_plan.plan_id;
    +
    347 }
    +
    +
    348
    +
    +
    352 void cancelPlanCallback(const std::shared_ptr<CancelFabricPlan::Request> request, std::shared_ptr<CancelFabricPlan::Response> response)
    +
    353 {
    +
    354 RCLCPP_INFO(this->get_logger(), "[server] Plan cancelling requested");
    +
    355 std::string plan_id = request->plan_id;
    +
    356 std::string bond_id_to_cancel;
    +
    357 bool found = false;
    +
    358
    +
    359 // search for the bond id associated with the plan id from current plan or plan queue
    +
    360 if (current_plan_.plan_id == plan_id)
    +
    361 {
    +
    362 current_plan_.status = PlanStatus::CANCELLED;
    +
    363 bond_id_to_cancel = current_plan_.bond_id;
    +
    364 plan_completed_ = true;
    +
    365 plan_cv_.notify_all();
    +
    366 found = true;
    +
    367 }
    +
    368 else
    +
    369 {
    +
    370 for (auto& plan : plan_queue_)
    +
    371 {
    +
    372 if (plan.plan_id == plan_id)
    +
    373 {
    +
    374 plan.status = PlanStatus::CANCELLED;
    +
    375 bond_id_to_cancel = plan.bond_id;
    +
    376 found = true;
    +
    377 break;
    +
    378 }
    +
    379 }
    +
    380 }
    +
    381
    +
    382 // if bond id is found, break the bond and cancel the plan
    +
    383 if (!bond_id_to_cancel.empty())
    +
    384 {
    +
    385 RCLCPP_INFO(this->get_logger(), "[server] Cancelling plan with id: %s", plan_id.c_str());
    +
    386
    +
    387 for (auto& [bond_id, bond_client] : bond_client_cache_)
    +
    388 {
    +
    389 if (bond_id == bond_id_to_cancel)
    +
    390 {
    +
    391 bond_client->stop();
    +
    392 RCLCPP_INFO(this->get_logger(), "[server] Bond with id : %s stopped", bond_id.c_str());
    +
    393 break;
    +
    394 }
    +
    395 }
    +
    396 }
    +
    397
    +
    398 response->success = found;
    +
    399 }
    +
    +
    400
    +
    +
    404 void setCompleteCallback(const std::shared_ptr<CompleteFabric::Request> request, std::shared_ptr<CompleteFabric::Response> response)
    +
    405 {
    +
    406 // mark the plan as completed using plan id
    +
    407 RCLCPP_INFO(this->get_logger(), "[server] Plan completion received for plan id: %s", request->plan_id.c_str());
    +
    408
    +
    409 if (current_plan_.plan_id != request->plan_id)
    +
    410 {
    +
    411 RCLCPP_WARN(this->get_logger(), "[server] Received plan id does not match the current plan id");
    +
    412 }
    +
    413 else
    +
    414 {
    +
    415 RCLCPP_INFO(this->get_logger(), "[server] Current plan id matches the received plan id. Proceeding to complete the plan.");
    +
    416 plan_completed_ = true;
    +
    417 plan_cv_.notify_all();
    +
    418 }
    +
    419 }
    +
    +
    420
    +
    +
    424 void getPlanStatusCallback(const std::shared_ptr<GetPlanStatus::Request> request, std::shared_ptr<GetPlanStatus::Response> response)
    +
    425 {
    +
    426 response->header.stamp = this->now();
    +
    427
    +
    428 // Search current plan
    +
    429 if (current_plan_.plan_id == request->plan_id)
    +
    430 {
    +
    431 response->status = status_msg(current_plan_.status);
    +
    432
    +
    433 if (current_plan_.status == PlanStatus::VALIDATION_FAILED || current_plan_.status == PlanStatus::PARSE_FAILED)
    +
    434 response->rejected_list = current_plan_.rejected_list;
    +
    435
    +
    436 return;
    +
    437 }
    +
    438
    +
    439 // Search plan queue
    +
    440 for (const auto& plan : plan_queue_)
    +
    441 {
    +
    442 if (plan.plan_id == request->plan_id)
    +
    443 {
    +
    444 response->status = status_msg(plan.status);
    +
    445
    +
    446 if (plan.status == PlanStatus::VALIDATION_FAILED || plan.status == PlanStatus::PARSE_FAILED)
    +
    447 response->rejected_list = plan.rejected_list;
    +
    448
    +
    449 return;
    +
    450 }
    +
    451 }
    +
    452
    +
    453 // Not found
    +
    454 response->status.code = fabric_msgs::msg::FabricStatus::UNKNOWN;
    +
    455 response->rejected_list.clear();
    +
    456 }
    +
    +
    457
    +
    +
    461 fabric_msgs::msg::FabricStatus status_msg(PlanStatus status) const
    +
    462 {
    +
    463 fabric_msgs::msg::FabricStatus status_msg;
    +
    464 switch (status)
    +
    465 {
    +
    466 case PlanStatus::UNKNOWN:
    +
    467 status_msg.code = fabric_msgs::msg::FabricStatus::UNKNOWN;
    +
    468 break;
    +
    469 case PlanStatus::QUEUED:
    +
    470 status_msg.code = fabric_msgs::msg::FabricStatus::QUEUED;
    +
    471 break;
    +
    472 case PlanStatus::PARSING:
    +
    473 status_msg.code = fabric_msgs::msg::FabricStatus::PARSING;
    +
    474 break;
    +
    475 case PlanStatus::PARSE_FAILED:
    +
    476 status_msg.code = fabric_msgs::msg::FabricStatus::PARSE_FAILED;
    +
    477 break;
    +
    478 case PlanStatus::VALIDATING:
    +
    479 status_msg.code = fabric_msgs::msg::FabricStatus::VALIDATING;
    +
    480 break;
    +
    481 case PlanStatus::VALIDATION_FAILED:
    +
    482 status_msg.code = fabric_msgs::msg::FabricStatus::VALIDATION_FAILED;
    +
    483 break;
    +
    484 case PlanStatus::BONDING:
    +
    485 status_msg.code = fabric_msgs::msg::FabricStatus::BONDING;
    +
    486 break;
    +
    487 case PlanStatus::BOND_FAILED:
    +
    488 status_msg.code = fabric_msgs::msg::FabricStatus::BOND_FAILED;
    +
    489 break;
    +
    490 case PlanStatus::CAPABILITY_STARTING:
    +
    491 status_msg.code = fabric_msgs::msg::FabricStatus::CAPABILITY_STARTING;
    +
    492 break;
    +
    493 case PlanStatus::CAPABILITY_START_FAILED:
    +
    494 status_msg.code = fabric_msgs::msg::FabricStatus::CAPABILITY_START_FAILED;
    +
    495 break;
    +
    496 case PlanStatus::CAPABILITY_CONNECTING:
    +
    497 status_msg.code = fabric_msgs::msg::FabricStatus::CAPABILITY_CONNECTING;
    +
    498 break;
    +
    499 case PlanStatus::CAPABILITY_CONNECT_FAILED:
    +
    500 status_msg.code = fabric_msgs::msg::FabricStatus::CAPABILITY_CONNECT_FAILED;
    +
    501 break;
    +
    502 case PlanStatus::RUNNING:
    +
    503 status_msg.code = fabric_msgs::msg::FabricStatus::RUNNING;
    +
    504 break;
    +
    505 case PlanStatus::COMPLETED:
    +
    506 status_msg.code = fabric_msgs::msg::FabricStatus::COMPLETED;
    +
    507 break;
    +
    508 case PlanStatus::CANCELLED:
    +
    509 status_msg.code = fabric_msgs::msg::FabricStatus::CANCELLED;
    +
    510 break;
    +
    511 default:
    +
    512 status_msg.code = fabric_msgs::msg::FabricStatus::UNKNOWN;
    +
    513 break;
    +
    514 }
    +
    515 return status_msg;
    +
    516 }
    +
    +
    +
    520 static std::string generate_uuid()
    +
    521 {
    +
    522 uuid_t uuid;
    +
    523 uuid_generate_random(uuid);
    +
    524 char uuid_str[40];
    +
    525 uuid_unparse(uuid, uuid_str);
    +
    526 return std::string(uuid_str);
    +
    527 }
    +
    +
    528
    +
    +
    533 void reset()
    +
    534 {
    +
    535 current_plan_ = fabric::Plan();
    +
    536 capability_list_.clear();
    +
    537 bond_id_.clear();
    +
    538 plan_completed_ = false;
    +
    539 }
    +
    +
    540
    +
    542 std::deque<fabric::Plan> plan_queue_;
    +
    543
    +
    545 fabric::Plan current_plan_;
    +
    546
    +
    548 bool plan_completed_;
    +
    549 std::mutex plan_mutex_;
    +
    550 std::condition_variable plan_cv_;
    +
    551
    +
    553 std::shared_ptr<CapabilityClient> capability_client_;
    +
    554
    +
    556 std::vector<CapabilityInfo> capability_list_;
    +
    557
    +
    559 pluginlib::ClassLoader<fabric::ValidationBase> validation_loader_;
    +
    560 pluginlib::ClassLoader<fabric::ParserBase> parsing_loader_;
    +
    561
    +
    563 std::shared_ptr<fabric::ParserBase> parsing_plugin_;
    +
    564
    +
    566 std::shared_ptr<fabric::ValidationBase> compatibility_validation_plugin_;
    +
    567
    +
    569 std::string bond_id_;
    +
    570
    +
    572 std::map<std::string, std::shared_ptr<BondClient>> bond_client_cache_;
    +
    573
    +
    575 std::string plan_file_path_;
    +
    576
    +
    578 rclcpp::Service<SetFabricPlan>::SharedPtr plan_server_;
    +
    579
    +
    581 rclcpp::Service<CancelFabricPlan>::SharedPtr cancel_server_;
    +
    582
    +
    584 rclcpp::Service<CompleteFabric>::SharedPtr completion_server_;
    +
    585
    +
    587 rclcpp::Service<GetPlanStatus>::SharedPtr get_plan_status_server_;
    +
    588
    +
    590 std::thread process_thread;
    +
    591
    +
    592}; // class Fabric
    +
    +
    593
    +
    594} // namespace fabric
    +
    bond_client.hpp
    +
    capability_client.hpp
    +
    fabric::Fabric
    Class representing the main server of the fabric.
    Definition server.hpp:36
    +
    fabric::Fabric::parsing_plugin_
    std::shared_ptr< fabric::ParserBase > parsing_plugin_
    Definition server.hpp:563
    +
    fabric::Fabric::capability_list_
    std::vector< CapabilityInfo > capability_list_
    Definition server.hpp:556
    +
    fabric::Fabric::compatibility_validation_plugin_
    std::shared_ptr< fabric::ValidationBase > compatibility_validation_plugin_
    Definition server.hpp:566
    +
    fabric::Fabric::CompleteFabric
    fabric_msgs::srv::CompleteFabric CompleteFabric
    Definition server.hpp:40
    +
    fabric::Fabric::getPlanStatusCallback
    void getPlanStatusCallback(const std::shared_ptr< GetPlanStatus::Request > request, std::shared_ptr< GetPlanStatus::Response > response)
    Callback function to get the status of a fabric plan.
    Definition server.hpp:424
    +
    fabric::Fabric::validation_loader_
    pluginlib::ClassLoader< fabric::ValidationBase > validation_loader_
    Definition server.hpp:559
    +
    fabric::Fabric::bond_id_
    std::string bond_id_
    Definition server.hpp:569
    +
    fabric::Fabric::plan_completed_
    bool plan_completed_
    Definition server.hpp:548
    +
    fabric::Fabric::Fabric
    Fabric(const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
    Construct a new Fabric object.
    Definition server.hpp:48
    +
    fabric::Fabric::bond_client_cache_
    std::map< std::string, std::shared_ptr< BondClient > > bond_client_cache_
    Definition server.hpp:572
    +
    fabric::Fabric::process
    void process()
    The main process thread of the fabric.
    Definition server.hpp:157
    +
    fabric::Fabric::cancelPlanCallback
    void cancelPlanCallback(const std::shared_ptr< CancelFabricPlan::Request > request, std::shared_ptr< CancelFabricPlan::Response > response)
    Callback function to cancel a fabric plan.
    Definition server.hpp:352
    +
    fabric::Fabric::generate_uuid
    static std::string generate_uuid()
    Generate a UUID string for plan tracking.
    Definition server.hpp:520
    +
    fabric::Fabric::current_plan_
    fabric::Plan current_plan_
    Definition server.hpp:545
    +
    fabric::Fabric::reset
    void reset()
    Reset internal data structures for processing a new plan.
    Definition server.hpp:533
    +
    fabric::Fabric::CancelFabricPlan
    fabric_msgs::srv::CancelFabricPlan CancelFabricPlan
    Definition server.hpp:39
    +
    fabric::Fabric::plan_cv_
    std::condition_variable plan_cv_
    Definition server.hpp:550
    +
    fabric::Fabric::capability_client_
    std::shared_ptr< CapabilityClient > capability_client_
    Definition server.hpp:553
    +
    fabric::Fabric::setPlanCallback
    void setPlanCallback(const std::shared_ptr< SetFabricPlan::Request > request, std::shared_ptr< SetFabricPlan::Response > response)
    Callback function to set a new fabric plan.
    Definition server.hpp:327
    +
    fabric::Fabric::GetPlanStatus
    fabric_msgs::srv::GetPlanStatus GetPlanStatus
    Definition server.hpp:41
    +
    fabric::Fabric::cancel_server_
    rclcpp::Service< CancelFabricPlan >::SharedPtr cancel_server_
    Definition server.hpp:581
    +
    fabric::Fabric::plan_server_
    rclcpp::Service< SetFabricPlan >::SharedPtr plan_server_
    Definition server.hpp:578
    +
    fabric::Fabric::plan_queue_
    std::deque< fabric::Plan > plan_queue_
    Definition server.hpp:542
    +
    fabric::Fabric::completion_server_
    rclcpp::Service< CompleteFabric >::SharedPtr completion_server_
    Definition server.hpp:584
    +
    fabric::Fabric::setCompleteCallback
    void setCompleteCallback(const std::shared_ptr< CompleteFabric::Request > request, std::shared_ptr< CompleteFabric::Response > response)
    Callback function to set the completion of a fabric plan.
    Definition server.hpp:404
    +
    fabric::Fabric::SetFabricPlan
    fabric_msgs::srv::SetFabricPlan SetFabricPlan
    Definition server.hpp:38
    +
    fabric::Fabric::status_msg
    fabric_msgs::msg::FabricStatus status_msg(PlanStatus status) const
    Convert internal plan status to fabric_msgs/PlanStatus message.
    Definition server.hpp:461
    +
    fabric::Fabric::get_plan_status_server_
    rclcpp::Service< GetPlanStatus >::SharedPtr get_plan_status_server_
    Definition server.hpp:587
    +
    fabric::Fabric::initialize
    void initialize()
    Initialize the Fabric node, action server and event client.
    Definition server.hpp:71
    +
    fabric::Fabric::plan_file_path_
    std::string plan_file_path_
    Definition server.hpp:575
    +
    fabric::Fabric::process_thread
    std::thread process_thread
    Definition server.hpp:590
    +
    fabric::Fabric::plan_mutex_
    std::mutex plan_mutex_
    Definition server.hpp:549
    +
    fabric::Fabric::parsing_loader_
    pluginlib::ClassLoader< fabric::ParserBase > parsing_loader_
    Definition server.hpp:560
    +
    fabric
    Definition parser_base.hpp:9
    +
    fabric::PlanStatus
    PlanStatus
    Definition structs.hpp:51
    + + + + + + + + + + + + + + + +
    parser_base.hpp
    +
    fabric::Plan
    Definition structs.hpp:70
    +
    fabric::Plan::rejected_list
    std::vector< std::string > rejected_list
    Definition structs.hpp:75
    +
    fabric::Plan::status
    PlanStatus status
    Definition structs.hpp:76
    +
    fabric::Plan::plan
    std::string plan
    Definition structs.hpp:72
    +
    fabric::Plan::plan_id
    std::string plan_id
    Definition structs.hpp:71
    +
    fabric::Plan::bond_id
    std::string bond_id
    Definition structs.hpp:73
    +
    fabric::fabric_exception
    Base class for driver exceptions.
    Definition exception.hpp:14
    +
    fabric::fabric_exception::what
    virtual const char * what() const noexcept override
    Definition exception.hpp:21
    + +
    validation_base.hpp
    +
    xml_helper.hpp
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/server__component_8cpp.html b/docs/html/server__component_8cpp.html new file mode 100644 index 0000000..85bf623 --- /dev/null +++ b/docs/html/server__component_8cpp.html @@ -0,0 +1,203 @@ + + + + + + + +Fabric: fabric_server/src/server_component.cpp File Reference + + + + + + + + + +
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    +
    server_component.cpp File Reference
    +
    +
    +
    #include <fabric_server/server.hpp>
    +#include <rclcpp_components/register_node_macro.hpp>
    +
    +Include dependency graph for server_component.cpp:
    +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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    + +
    +Generated by doxygen 1.9.8 +
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    server_node.cpp File Reference
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    #include <fabric_server/server.hpp>
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    +Include dependency graph for server_node.cpp:
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    int main (int argc, char **argv)
     
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    Function Documentation

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    ◆ main()

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    int main (int argc,
    char ** argv 
    )
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    + +
    +Generated by doxygen 1.9.8 +
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b/docs/html/splitbard.png new file mode 100644 index 0000000000000000000000000000000000000000..8367416d757fd7b6dc4272b6432dc75a75abd068 GIT binary patch literal 282 zcmeAS@N?(olHy`uVBq!ia0vp^Yzz!63>-{AmhX=Jf@VhhFKy35^fiT zT~&lUj3=cDh^%3HDY9k5CEku}PHXNoNC(_$U3XPb&Q*ME25pT;2(*BOgAf<+R$lzakPG`kF31()Fx{L5Wrac|GQzjeE= zueY1`Ze{#x<8=S|`~MgGetGce)#vN&|J{Cd^tS%;tBYTo?+^d68<#n_Y_xx`J||4O V@QB{^CqU0Kc)I$ztaD0e0svEzbJzd? literal 0 HcmV?d00001 diff --git a/docs/html/status_8md.html b/docs/html/status_8md.html new file mode 100644 index 0000000..7826e9c --- /dev/null +++ b/docs/html/status_8md.html @@ -0,0 +1,81 @@ + + + + + + + +Fabric: docs/status.md File Reference + + + + + + + + + +

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    docs/status.md File Reference
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    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/structfabric_1_1CapabilityInfo-members.html b/docs/html/structfabric_1_1CapabilityInfo-members.html new file mode 100644 index 0000000..9943e0e --- /dev/null +++ b/docs/html/structfabric_1_1CapabilityInfo-members.html @@ -0,0 +1,92 @@ + + + + + + + +Fabric: Member List + + + + + + + + + +
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    fabric::CapabilityInfo Member List
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    This is the complete list of members for fabric::CapabilityInfo, including all inherited members.

    + + + + + +
    alt_providersfabric::CapabilityInfo
    interfacefabric::CapabilityInfo
    is_semanticfabric::CapabilityInfo
    providerfabric::CapabilityInfo
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    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/structfabric_1_1CapabilityInfo.html b/docs/html/structfabric_1_1CapabilityInfo.html new file mode 100644 index 0000000..632e7b1 --- /dev/null +++ b/docs/html/structfabric_1_1CapabilityInfo.html @@ -0,0 +1,162 @@ + + + + + + + +Fabric: fabric::CapabilityInfo Struct Reference + + + + + + + + + +
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    fabric::CapabilityInfo Struct Reference
    +
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    + +

    #include <structs.hpp>

    + + + + + + + + + + +

    +Public Attributes

    std::string interface
     
    std::string provider
     
    bool is_semantic
     
    std::vector< std::string > alt_providers
     
    +

    Member Data Documentation

    + +

    ◆ alt_providers

    + +
    +
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    std::vector<std::string> fabric::CapabilityInfo::alt_providers
    +
    + +
    +
    + +

    ◆ interface

    + +
    +
    + + + + +
    std::string fabric::CapabilityInfo::interface
    +
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    +
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    ◆ is_semantic

    + +
    +
    + + + + +
    bool fabric::CapabilityInfo::is_semantic
    +
    + +
    +
    + +

    ◆ provider

    + +
    +
    + + + + +
    std::string fabric::CapabilityInfo::provider
    +
    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/structfabric_1_1Plan-members.html b/docs/html/structfabric_1_1Plan-members.html new file mode 100644 index 0000000..3ff8b26 --- /dev/null +++ b/docs/html/structfabric_1_1Plan-members.html @@ -0,0 +1,94 @@ + + + + + + + +Fabric: Member List + + + + + + + + + +
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    fabric::Plan Member List
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    This is the complete list of members for fabric::Plan, including all inherited members.

    + + + + + + + +
    bond_idfabric::Plan
    connectionsfabric::Plan
    planfabric::Plan
    plan_idfabric::Plan
    rejected_listfabric::Plan
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    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/structfabric_1_1Plan.html b/docs/html/structfabric_1_1Plan.html new file mode 100644 index 0000000..04e25bc --- /dev/null +++ b/docs/html/structfabric_1_1Plan.html @@ -0,0 +1,194 @@ + + + + + + + +Fabric: fabric::Plan Struct Reference + + + + + + + + + +
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    fabric::Plan Struct Reference
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    + +

    #include <structs.hpp>

    + + + + + + + + + + + + + + +

    +Public Attributes

    std::string plan_id
     
    std::string plan
     
    std::string bond_id
     
    std::map< int, connection > connections
     
    std::vector< std::string > rejected_list
     
    PlanStatus status = PlanStatus::UNKNOWN
     
    +

    Member Data Documentation

    + +

    ◆ bond_id

    + +
    +
    + + + + +
    std::string fabric::Plan::bond_id
    +
    + +
    +
    + +

    ◆ connections

    + +
    +
    + + + + +
    std::map<int, connection> fabric::Plan::connections
    +
    + +
    +
    + +

    ◆ plan

    + +
    +
    + + + + +
    std::string fabric::Plan::plan
    +
    + +
    +
    + +

    ◆ plan_id

    + +
    +
    + + + + +
    std::string fabric::Plan::plan_id
    +
    + +
    +
    + +

    ◆ rejected_list

    + +
    +
    + + + + +
    std::vector<std::string> fabric::Plan::rejected_list
    +
    + +
    +
    + +

    ◆ status

    + +
    +
    + + + + +
    PlanStatus fabric::Plan::status = PlanStatus::UNKNOWN
    +
    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/structfabric_1_1connection-members.html b/docs/html/structfabric_1_1connection-members.html new file mode 100644 index 0000000..154d95d --- /dev/null +++ b/docs/html/structfabric_1_1connection-members.html @@ -0,0 +1,94 @@ + + + + + + + +Fabric: Member List + + + + + + + + + +
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    fabric::connection Member List
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    This is the complete list of members for fabric::connection, including all inherited members.

    + + + + + + + +
    descriptionfabric::connection
    on_failurefabric::connection
    on_startfabric::connection
    on_stopfabric::connection
    on_successfabric::connection
    sourcefabric::connection
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    fabric::connection Struct Reference
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    + +

    Structure representing connections between nodes. + More...

    + +

    #include <structs.hpp>

    +
    +Collaboration diagram for fabric::connection:
    +
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    Collaboration graph
    + + + + + +
    [legend]
    + + + + + + + + + + + + + + +

    +Public Attributes

    node source
     
    node on_start
     
    node on_stop
     
    node on_success
     
    node on_failure
     
    std::string description
     
    +

    Detailed Description

    +

    Structure representing connections between nodes.

    +

    Member Data Documentation

    + +

    ◆ description

    + +
    +
    + + + + +
    std::string fabric::connection::description
    +
    + +
    +
    + +

    ◆ on_failure

    + +
    +
    + + + + +
    node fabric::connection::on_failure
    +
    + +
    +
    + +

    ◆ on_start

    + +
    +
    + + + + +
    node fabric::connection::on_start
    +
    + +
    +
    + +

    ◆ on_stop

    + +
    +
    + + + + +
    node fabric::connection::on_stop
    +
    + +
    +
    + +

    ◆ on_success

    + +
    +
    + + + + +
    node fabric::connection::on_success
    +
    + +
    +
    + +

    ◆ source

    + +
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    node fabric::connection::source
    +
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    The documentation for this struct was generated from the following file: +
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    +Generated by doxygen 1.9.8 +
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    fabric::fabric_exception Member List
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    + +

    This is the complete list of members for fabric::fabric_exception, including all inherited members.

    + + + +
    fabric_exception(const std::string &what)fabric::fabric_exceptioninline
    what() const noexcept overridefabric::fabric_exceptioninlinevirtual
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/structfabric_1_1fabric__exception.html b/docs/html/structfabric_1_1fabric__exception.html new file mode 100644 index 0000000..8e607b2 --- /dev/null +++ b/docs/html/structfabric_1_1fabric__exception.html @@ -0,0 +1,179 @@ + + + + + + + +Fabric: fabric::fabric_exception Struct Reference + + + + + + + + + +
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    fabric::fabric_exception Struct Reference
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    Base class for driver exceptions. + More...

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    #include <exception.hpp>

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    +Inheritance diagram for fabric::fabric_exception:
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    +Public Member Functions

     fabric_exception (const std::string &what)
     
    virtual const char * what () const noexcept override
     
    +

    Detailed Description

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    Base class for driver exceptions.

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    Constructor & Destructor Documentation

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    ◆ fabric_exception()

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    fabric::fabric_exception::fabric_exception (const std::string & what)
    +     		+inline
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    Member Function Documentation

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    ◆ what()

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    virtual const char * fabric::fabric_exception::what () const
    +     		+inlineoverridevirtualnoexcept
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    The documentation for this struct was generated from the following file: +
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    +Generated by doxygen 1.9.8 +
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    This is the complete list of members for fabric::node, including all inherited members.

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    exists() constfabric::nodeinline
    instance_idfabric::node
    interfacefabric::node
    parametersfabric::node
    providerfabric::node
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/structfabric_1_1node.html b/docs/html/structfabric_1_1node.html new file mode 100644 index 0000000..27245f6 --- /dev/null +++ b/docs/html/structfabric_1_1node.html @@ -0,0 +1,199 @@ + + + + + + + +Fabric: fabric::node Struct Reference + + + + + + + + + +
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    fabric::node Struct Reference
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    Structure representing a node in the fabric. + More...

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    #include <structs.hpp>

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    +Public Member Functions

    bool exists () const
     
    + + + + + + + + + +

    +Public Attributes

    std::string interface = ""
     
    std::string provider = ""
     
    capabilities2_events::EventParameters parameters
     
    int instance_id = -1
     
    +

    Detailed Description

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    Structure representing a node in the fabric.

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    Member Function Documentation

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    ◆ exists()

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    bool fabric::node::exists () const
    +     		+inline
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    Member Data Documentation

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    ◆ instance_id

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    int fabric::node::instance_id = -1
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    ◆ interface

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    std::string fabric::node::interface = ""
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    ◆ parameters

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    capabilities2_events::EventParameters fabric::node::parameters
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    ◆ provider

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    std::string fabric::node::provider = ""
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    +Classes

    struct  fabric::node
     Structure representing a node in the fabric. More...
     
    struct  fabric::connection
     Structure representing connections between nodes. More...
     
    struct  fabric::Plan
     
    struct  fabric::CapabilityInfo
     
    + + + +

    +Namespaces

    namespace  fabric
     
    + + + + + + +

    +Enumerations

    enum  fabric::event { fabric::ON_START +, fabric::ON_SUCCESS +, fabric::ON_FAILURE +, fabric::ON_STOP + }
     Enumeration for different event types in connections. More...
     
    enum class  fabric::PlanStatus {
    +  fabric::UNKNOWN +, fabric::QUEUED +, fabric::PARSING +, fabric::PARSE_FAILED +,
    +  fabric::VALIDATING +, fabric::VALIDATION_FAILED +, fabric::BONDING +, fabric::BOND_FAILED +,
    +  fabric::CAPABILITY_STARTING +, fabric::CAPABILITY_START_FAILED +, fabric::CAPABILITY_CONNECTING +, fabric::CAPABILITY_CONNECT_FAILED +,
    +  fabric::RUNNING +, fabric::COMPLETED +, fabric::CANCELLED +
    + }
     
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    + +
    +Generated by doxygen 1.9.8 +
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    +
    structs.hpp
    +
    +
    +Go to the documentation of this file.
    1#pragma once
    +
    2
    +
    3#include <map>
    +
    4#include <string>
    +
    5#include <vector>
    +
    6#include <capabilities2_events/event_parameters.hpp>
    +
    7
    +
    8namespace fabric
    +
    9{
    +
    10
    +
    +
    14enum event
    +
    15{
    +
    16 ON_START,
    +
    17 ON_SUCCESS,
    +
    18 ON_FAILURE,
    +
    19 ON_STOP
    +
    20};
    +
    +
    21
    +
    +
    25struct node
    +
    26{
    +
    27 std::string interface = "";
    +
    28 std::string provider = "";
    +
    29 capabilities2_events::EventParameters parameters;
    +
    30 int instance_id = -1;
    +
    31
    +
    +
    32 bool exists() const
    +
    33 {
    +
    34 return (!interface.empty() && !provider.empty());
    +
    35 }
    +
    +
    36};
    +
    +
    37
    + +
    50
    + +
    68
    +
    +
    69struct Plan
    +
    70{
    +
    71 std::string plan_id;
    +
    72 std::string plan;
    +
    73 std::string bond_id;
    +
    74 std::map<int, connection> connections;
    +
    75 std::vector<std::string> rejected_list;
    +
    76 PlanStatus status = PlanStatus::UNKNOWN;
    +
    77};
    +
    +
    78
    +
    +
    79struct CapabilityInfo
    +
    80{
    +
    81 std::string interface;
    +
    82 std::string provider;
    +
    83 bool is_semantic;
    +
    84 std::vector<std::string> alt_providers;
    +
    85};
    +
    +
    86
    +
    87} // namespace fabric
    +
    fabric
    Definition parser_base.hpp:9
    +
    fabric::ON_START
    @ ON_START
    Definition structs.hpp:16
    +
    fabric::ON_FAILURE
    @ ON_FAILURE
    Definition structs.hpp:18
    +
    fabric::ON_SUCCESS
    @ ON_SUCCESS
    Definition structs.hpp:17
    +
    fabric::ON_STOP
    @ ON_STOP
    Definition structs.hpp:19
    +
    fabric::PlanStatus
    PlanStatus
    Definition structs.hpp:51
    + + + + + + + + + + + + + + + +
    fabric::CapabilityInfo
    Definition structs.hpp:80
    +
    fabric::CapabilityInfo::interface
    std::string interface
    Definition structs.hpp:81
    +
    fabric::CapabilityInfo::alt_providers
    std::vector< std::string > alt_providers
    Definition structs.hpp:84
    +
    fabric::CapabilityInfo::provider
    std::string provider
    Definition structs.hpp:82
    +
    fabric::CapabilityInfo::is_semantic
    bool is_semantic
    Definition structs.hpp:83
    +
    fabric::Plan
    Definition structs.hpp:70
    +
    fabric::Plan::rejected_list
    std::vector< std::string > rejected_list
    Definition structs.hpp:75
    +
    fabric::Plan::status
    PlanStatus status
    Definition structs.hpp:76
    +
    fabric::Plan::connections
    std::map< int, connection > connections
    Definition structs.hpp:74
    +
    fabric::Plan::plan
    std::string plan
    Definition structs.hpp:72
    +
    fabric::Plan::plan_id
    std::string plan_id
    Definition structs.hpp:71
    +
    fabric::Plan::bond_id
    std::string bond_id
    Definition structs.hpp:73
    +
    fabric::connection
    Structure representing connections between nodes.
    Definition structs.hpp:42
    +
    fabric::connection::description
    std::string description
    Definition structs.hpp:48
    +
    fabric::connection::on_success
    node on_success
    Definition structs.hpp:46
    +
    fabric::connection::on_start
    node on_start
    Definition structs.hpp:44
    +
    fabric::connection::source
    node source
    Definition structs.hpp:43
    +
    fabric::connection::on_failure
    node on_failure
    Definition structs.hpp:47
    +
    fabric::connection::on_stop
    node on_stop
    Definition structs.hpp:45
    +
    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
    +
    fabric::node::provider
    std::string provider
    Definition structs.hpp:28
    +
    fabric::node::interface
    std::string interface
    Definition structs.hpp:27
    +
    fabric::node::exists
    bool exists() const
    Definition structs.hpp:32
    +
    fabric::node::parameters
    capabilities2_events::EventParameters parameters
    Definition structs.hpp:29
    +
    fabric::node::instance_id
    int instance_id
    Definition structs.hpp:30
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/structs_8md.html b/docs/html/structs_8md.html new file mode 100644 index 0000000..91f5c37 --- /dev/null +++ b/docs/html/structs_8md.html @@ -0,0 +1,81 @@ + + + + + + + +Fabric: docs/structs.md File Reference + + + + + + + + + +
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    validation_base.hpp File Reference
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    #include <any>
    +#include <string>
    +#include <vector>
    +#include <rclcpp/rclcpp.hpp>
    +#include <fabric_base/utils/structs.hpp>
    +#include <fabric_base/utils/xml_helper.hpp>
    +#include <fabric_base/utils/exception.hpp>
    +
    +Include dependency graph for validation_base.hpp:
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    class  fabric::ValidationBase
     Abstract base class for XML plan validation plugins. More...
     
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    namespace  fabric
     
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z;UaKdr=klfC1I8N{~lu?<=d+KSc~WQ+|B + + + + + + +Fabric: fabric_base/include/fabric_base/validation_base.hpp Source File + + + + + + + + + +
    +
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    validation_base.hpp
    +
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    +Go to the documentation of this file.
    1#pragma once
    +
    2#include <any>
    +
    3#include <string>
    +
    4#include <vector>
    +
    5#include <rclcpp/rclcpp.hpp>
    +
    6#include <fabric_base/utils/structs.hpp>
    +
    7#include <fabric_base/utils/xml_helper.hpp>
    +
    8#include <fabric_base/utils/exception.hpp>
    +
    9
    +
    10namespace fabric
    +
    11{
    +
    12
    +
    +
    18class ValidationBase
    +
    19{
    +
    20public:
    +
    21 virtual ~ValidationBase() = default;
    +
    22
    +
    +
    28 virtual void initialize(const rclcpp::Node::SharedPtr& node)
    +
    29 {
    +
    30 initialize_base(node, "ValidationBasePlugin");
    +
    31 }
    +
    +
    32
    +
    39 virtual void validate(fabric::Plan& plan, std::vector<CapabilityInfo>& capabilities) = 0;
    +
    40
    +
    41protected:
    +
    +
    48 void initialize_base(const rclcpp::Node::SharedPtr& node, const std::string& plugin_name)
    +
    49 {
    +
    50 node_ = node;
    +
    51 plugin_name_ = plugin_name;
    +
    52 }
    +
    +
    53
    +
    57 rclcpp::Node::SharedPtr node_;
    +
    58
    +
    62 std::string plugin_name_;
    +
    63};
    +
    +
    64
    +
    65} // namespace fabric
    +
    fabric::ValidationBase
    Abstract base class for XML plan validation plugins.
    Definition validation_base.hpp:19
    +
    fabric::ValidationBase::node_
    rclcpp::Node::SharedPtr node_
    Shared pointer to the ROS2 node.
    Definition validation_base.hpp:57
    +
    fabric::ValidationBase::plugin_name_
    std::string plugin_name_
    Name of the validation plugin.
    Definition validation_base.hpp:62
    +
    fabric::ValidationBase::initialize
    virtual void initialize(const rclcpp::Node::SharedPtr &node)
    Initialize the validation plugin with the given ROS2 node.
    Definition validation_base.hpp:28
    +
    fabric::ValidationBase::validate
    virtual void validate(fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities)=0
    Validate the given XML plan.
    +
    fabric::ValidationBase::initialize_base
    void initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
    Base initialization method for derived classes.
    Definition validation_base.hpp:48
    +
    fabric::ValidationBase::~ValidationBase
    virtual ~ValidationBase()=default
    + +
    fabric
    Definition parser_base.hpp:9
    +
    fabric::Plan
    Definition structs.hpp:70
    +
    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
    + +
    xml_helper.hpp
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/validation__plugins_8md.html b/docs/html/validation__plugins_8md.html new file mode 100644 index 0000000..d9a3d98 --- /dev/null +++ b/docs/html/validation__plugins_8md.html @@ -0,0 +1,81 @@ + + + + + + + +Fabric: docs/validation_plugins.md File Reference + + + + + + + + + +
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    + + diff --git a/docs/html/validators_8cpp.html b/docs/html/validators_8cpp.html new file mode 100644 index 0000000..1666b25 --- /dev/null +++ b/docs/html/validators_8cpp.html @@ -0,0 +1,137 @@ + + + + + + + +Fabric: fabric_validator/src/validators.cpp File Reference + + + + + + + + + +
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    validators.cpp File Reference
    +
    +
    +
    #include <fabric_validator/compatibility_plugin.hpp>
    +#include <pluginlib/class_list_macros.hpp>
    +
    +Include dependency graph for validators.cpp:
    +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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    xml_helper.hpp File Reference
    +
    +
    +
    #include <map>
    +#include <vector>
    +#include <algorithm>
    +#include <string>
    +#include <tinyxml2.h>
    +#include <fabric_base/utils/structs.hpp>
    +#include <fabric_base/utils/exception.hpp>
    +
    +Include dependency graph for xml_helper.hpp:
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    +Namespaces

    namespace  fabric
     
    + + + + + + + + + + + + + + + + +

    +Functions

    bool fabric::search (std::vector< std::string > list, std::string value)
     search a string in a vector of strings
     
    tinyxml2::XMLElement * fabric::extract_plan (tinyxml2::XMLDocument &document)
     Extract the <Plan> element from the XML document.
     
    bool fabric::convert_to_string (tinyxml2::XMLElement *element, std::string &parameters)
     convert XMLElement to std::string
     
    void fabric::convert_to_string (tinyxml2::XMLDocument &document_xml, std::string &document_string)
     convert XMLDocument to std::string
     
    bool fabric::check_syntax (tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
     check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan
     
    +
    + +
    +Generated by doxygen 1.9.8 +
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zz{D*ab$ILerB$>TdN+d9->wMs!~aAq(~(|>)ZbquNK*`!plHhG{O?~xNb2+F&m$ms z26YDz{_p17!O9{62te2_(kdYzra3}G4I2S>?Rt7((c0PykIMr3U&xU?IB;2Cfc3u< zQSeNv=QJlbcNTnxEi5deXhq`yLUDB%Bg#I_&D3>z(dp?lP`ZPT&!?huFt|k;QTL6E z=u=ZuK`x1lZ5YJ*UIWNOlq(Qdc6ct2JN)iK=!Y~(&SUVD)UqYt&$@i^+b@frW<>b` z`W3NBNpkk~w;;c+gGQL6KtNRSakth|+Qjj-(lOVtNVJt zK=OVCdQs3f#-8NW{R^2a@h|ya2S+w4amd{JC0Iqnu~vja7O;of4i3ZJXQV|0W`k6GoU?qi&o|SLmR3M*4M1TgwkOTCr#KL z9^INI>P`TL_44MX0>CZ>Rn>>NpFmM0xUKE3ii!%iZgmiJ3@|K2*P-!&eb3pMA9Mnl zMH(+~I*Jc)ppz~lE{+JRy?FUj6pFK(bzQLwjet;xNJ_f9rE{~ZYHJblHo$YeRE|5` zOOuiWnig=9p~iUs;R69ga%gK*)zz(oSXnOoJ%d)S{lK&Qw^ufm9xUFWzCj(0qpz=T zXK%lMe7sTC@I_$O^Hv*0!P)1Gc8UT}Wut@q3mIr&bkqW*8w8w52u8ZQu^=F@W=0cA zySZ-@XS}C9UgD(ard{$qya9b`j4hH5a&mGM%^}UWP2J4g95E@W3>*SKKR>{Lhp^6E zN-oNY!cQCBJ`4>-q@|@jwCRD$w$yifc{u=*EbMor6^eAu5mC&9#6)KR4;b)jz)tJS z?5ysoUd41ex&X?cp=s*qf=@0o(Q>)9!wY`a0}BE-e$Z1=%0mGUQ3EjU3ZUA@k5kkQ zcdfSCo|Ze_SWgrGGIdBR$&sko3;lTumz-NNN^tv7R;&8xJiuiVi^3OoCRx3|`TH5z zk}898pPJOwy0g zMZESH5y3JL{%LG#GO@7eWq?K<`2!OvWhzbO-%35_O5c*KOL$w{fAm3|OSxl9e&@~| z-;+9*k#*mVd0#pbpKl!b# z832tDQ3yB@2?Bsz0Pfd7rmxkzb>pREie@`2#3bmMIPWZo{(9CnyZsm%P`$mq3ysb% z5uGa#wpm+Um3DW(1M7w$m+x+3kPG_(8|X<)_ayN5YIWS6+6mnpMuh9&4UW2zkqU$f zvCOgWn+wn(9p^a9;2iy3*3=IhAD3w^QhDJ$33A4V1Qd!?m8yJ>9q_JQgB@lCo#vkl zP4P?rE{^5aVNVYZ3@n3)U?-^X1r9fugW%e`$5mK>>}rz#sel1IG?4j05(Mg@UdRZT zDPry@C}$v!udS^;fRq6t#U^s&S&BeG$^`Fm!yl6~7s#fFwk(`$qi36}P#iIMUv+nV zZoA`*Jjt-5agzzmS{#KdA3elO#R38XFmiHoCfFEoC?C;Us@Gmp5)1fz za}#6BeccVi{?Rxl?2L5F<3yhJT- zD`k>N_aW}H(xjh0S)_u(%q{%b0GCN-nEKIzo7mzy+zhJ}CkaueO7d*dhEB28U}9n- z8#Y=ZT&qOLXXZ$a{?2uOeI*qYHUWX^K{L>M1=Z9|{%LtPA=SAPJ4O9hOPPTxg~P3o z50hI&Peh8eP{`*Vm4^~ar<9r*dSCk#z)eJ)IlA^(nj5+2a)lT1xX9hZRa{{w5&qwg zLEo3nSK0pW{{|7#WhgKF_hZgWTOqmtLb@) + + + + + + +Fabric: fabric_base/include/fabric_base/utils/xml_helper.hpp Source File + + + + + + + + + +

    +
    + + + + + + +
    +
    Fabric +
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    +
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    +
    +
    xml_helper.hpp
    +
    +
    +Go to the documentation of this file.
    1#pragma once
    +
    2
    +
    3#include <map>
    +
    4#include <vector>
    +
    5#include <algorithm>
    +
    6#include <string>
    +
    7#include <tinyxml2.h>
    +
    8
    +
    9#include <fabric_base/utils/structs.hpp>
    +
    10#include <fabric_base/utils/exception.hpp>
    +
    11
    +
    12namespace fabric
    +
    13{
    +
    +
    22bool search(std::vector<std::string> list, std::string value)
    +
    23{
    +
    24 return (std::find(list.begin(), list.end(), value) != list.end());
    +
    25}
    +
    +
    26
    +
    +
    36tinyxml2::XMLElement* extract_plan(tinyxml2::XMLDocument& document)
    +
    37{
    +
    38 std::string plan_tag(document.FirstChildElement()->Name());
    +
    39
    +
    40 if (plan_tag == "Plan")
    +
    41 return document.FirstChildElement("Plan")->FirstChildElement();
    +
    42 else
    +
    43 return nullptr;
    +
    44}
    +
    +
    45
    +
    +
    54inline bool convert_to_string(tinyxml2::XMLElement* element, std::string& parameters)
    +
    55{
    +
    56 if (element)
    +
    57 {
    +
    58 tinyxml2::XMLPrinter printer;
    +
    59 element->Accept(&printer);
    +
    60 parameters = printer.CStr();
    +
    61 return true;
    +
    62 }
    +
    63 else
    +
    64 {
    +
    65 parameters = "";
    +
    66 return false;
    +
    67 }
    +
    68}
    +
    +
    69
    +
    +
    77void convert_to_string(tinyxml2::XMLDocument& document_xml, std::string& document_string)
    +
    78{
    +
    79 tinyxml2::XMLPrinter printer;
    +
    80 document_xml.Print(&printer);
    +
    81 document_string = printer.CStr();
    +
    82}
    +
    +
    83
    +
    +
    95bool check_syntax(tinyxml2::XMLElement* element, std::vector<std::string>& control_list, std::vector<std::string>& rejected, std::string& error)
    +
    96{
    +
    97 const char* type = nullptr;
    +
    98 const char* interface = nullptr;
    +
    99 const char* provider = nullptr;
    +
    100
    +
    101 std::string elementTag(element->Name());
    +
    102
    +
    103 std::string parameter_string;
    +
    104 convert_to_string(element, parameter_string);
    +
    105
    +
    106 bool returnValue = true;
    +
    107
    +
    108 std::string typetag = "";
    +
    109 std::string interfacetag = "";
    +
    110 std::string providertag = "";
    +
    111
    +
    112 bool hasChildren = !element->NoChildren();
    +
    113 bool hasSiblings = (element->NextSiblingElement() != nullptr);
    +
    114
    +
    115 if (elementTag == "Control")
    +
    116 {
    +
    117 element->QueryStringAttribute("type", &type);
    +
    118
    +
    119 if (type)
    +
    120 {
    +
    121 typetag = type;
    +
    122
    +
    123 if (!search(control_list, typetag))
    +
    124 {
    +
    125 error = "Control tag '" + typetag + "' not available in the valid list";
    +
    126 rejected.push_back(parameter_string);
    +
    127 return false;
    +
    128 }
    +
    129 }
    +
    130 else
    +
    131 {
    +
    132 error = "Control tag missing 'type' attribute: " + parameter_string;
    +
    133 rejected.push_back(parameter_string);
    +
    134 return false;
    +
    135 }
    +
    136
    +
    137 if (hasChildren)
    +
    138 returnValue &= check_syntax(element->FirstChildElement(), control_list, rejected, error);
    +
    139
    +
    140 if (hasSiblings)
    +
    141 returnValue &= check_syntax(element->NextSiblingElement(), control_list, rejected, error);
    +
    142 }
    +
    143 else if (elementTag == "Runner")
    +
    144 {
    +
    145 element->QueryStringAttribute("interface", &interface);
    +
    146 element->QueryStringAttribute("provider", &provider);
    +
    147
    +
    148 if (not interface)
    +
    149 {
    +
    150 error = "Runner tag missing 'interface' attribute: " + parameter_string;
    +
    151 rejected.push_back(parameter_string);
    +
    152 return false;
    +
    153 }
    +
    154
    +
    155 if (not provider)
    +
    156 {
    +
    157 error = "Runner tag missing 'provider' attribute: " + parameter_string;
    +
    158 rejected.push_back(parameter_string);
    +
    159 return false;
    +
    160 }
    +
    161
    +
    162 if (hasSiblings)
    +
    163 returnValue &= check_syntax(element->NextSiblingElement(), control_list, rejected, error);
    +
    164 }
    +
    165 else
    +
    166 {
    +
    167 error = "XML element is not valid :" + parameter_string;
    +
    168 rejected.push_back(parameter_string);
    +
    169 return false;
    +
    170 }
    +
    171
    +
    172 return returnValue;
    +
    173}
    +
    +
    174
    +
    175} // namespace fabric
    + +
    fabric
    Definition parser_base.hpp:9
    +
    fabric::extract_plan
    tinyxml2::XMLElement * extract_plan(tinyxml2::XMLDocument &document)
    Extract the <Plan> element from the XML document.
    Definition xml_helper.hpp:36
    +
    fabric::check_syntax
    bool check_syntax(tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
    check the plan to make sure all control and runner XML elements are valid with minimal required attri...
    Definition xml_helper.hpp:95
    +
    fabric::search
    bool search(std::vector< std::string > list, std::string value)
    search a string in a vector of strings
    Definition xml_helper.hpp:22
    +
    fabric::convert_to_string
    bool convert_to_string(tinyxml2::XMLElement *element, std::string &parameters)
    convert XMLElement to std::string
    Definition xml_helper.hpp:54
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/docs/html/xml__parser__plugin_8hpp.html b/docs/html/xml__parser__plugin_8hpp.html new file mode 100644 index 0000000..0d3e631 --- /dev/null +++ b/docs/html/xml__parser__plugin_8hpp.html @@ -0,0 +1,168 @@ + + + + + + + +Fabric: fabric_parser_xml/include/fabric_parser_xml/xml_parser_plugin.hpp File Reference + + + + + + + + + +
    +
    + + + + + + +
    +
    Fabric +
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    +Classes | +Namespaces
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    xml_parser_plugin.hpp File Reference
    +
    +
    +
    #include <cerrno>
    +#include <cstdlib>
    +#include <string>
    +#include <vector>
    +#include <tinyxml2.h>
    +#include <rclcpp/rclcpp.hpp>
    +#include <fabric_base/parser_base.hpp>
    +#include <capabilities2_events/event_parameters.hpp>
    +
    +Include dependency graph for xml_parser_plugin.hpp:
    +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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    +This graph shows which files directly or indirectly include this file:
    +
    +
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    +
    +

    Go to the source code of this file.

    + + + + + +

    +Classes

    class  fabric::XMLParser
     Syntax validation plugin for XML plans. More...
     
    + + + +

    +Namespaces

    namespace  fabric
     
    +
    + +
    +Generated by doxygen 1.9.8 +
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fabric_parser_xml/include/fabric_parser_xml/xml_parser_plugin.hpp Source File + + + + + + + + + + +
    +
    xml_parser_plugin.hpp
    +
    +
    +Go to the documentation of this file.
    1#pragma once
    +
    2#include <cerrno>
    +
    3#include <cstdlib>
    +
    4#include <string>
    +
    5#include <vector>
    +
    6#include <tinyxml2.h>
    +
    7
    +
    8#include <rclcpp/rclcpp.hpp>
    +
    9#include <fabric_base/parser_base.hpp>
    +
    10#include <capabilities2_events/event_parameters.hpp>
    +
    11
    +
    12namespace fabric
    +
    13{
    +
    +
    19class XMLParser : public ParserBase
    +
    20{
    +
    21public:
    +
    22 XMLParser() = default;
    +
    23 virtual ~XMLParser() = default;
    +
    24
    +
    +
    30 void initialize(const rclcpp::Node::SharedPtr& node) override
    +
    31 {
    +
    32 initialize_base(node, "XMLParserPlugin");
    +
    33
    +
    34 auto* decl = system_doc.NewDeclaration(R"(xml version="1.0" encoding="UTF-8")");
    +
    35 system_doc.InsertEndChild(decl);
    +
    36 }
    +
    +
    37
    +
    +
    44 bool load_file(const std::string& file_path, fabric::Plan& plan) override
    +
    45 {
    +
    46 tinyxml2::XMLError xml_status = default_document.LoadFile(file_path.c_str());
    +
    47
    +
    48 // check if the file loading failed
    +
    49 if (xml_status != tinyxml2::XMLError::XML_SUCCESS)
    +
    50 {
    +
    51 RCLCPP_ERROR(node_->get_logger(), "[xml_parser] Error loading plan: %s, Error: %s", file_path.c_str(), default_document.ErrorName());
    +
    52 return false;
    +
    53 }
    +
    54
    +
    55 RCLCPP_INFO(node_->get_logger(), "Plan loaded from : %s", file_path.c_str());
    +
    56
    +
    57 convert_to_string(default_document, plan.plan);
    +
    58
    +
    59 return true;
    +
    60 }
    +
    +
    61
    +
    +
    68 bool check_compatibility(const fabric::Plan& plan) override
    +
    69 {
    +
    70 // XML Document to check the validity of the plan
    +
    71 tinyxml2::XMLDocument documentChecking;
    +
    72
    +
    73 // try to parse the std::string plan from fabric_msgs/Plan to the to a XMLDocument file
    +
    74 tinyxml2::XMLError xml_status = documentChecking.Parse(plan.plan.c_str());
    +
    75
    +
    76 // check if the file parsing failed
    +
    77 if (xml_status != tinyxml2::XMLError::XML_SUCCESS)
    +
    78 {
    +
    79 RCLCPP_ERROR(node_->get_logger(), "Parsing the plan from service request message failed with error: %s", documentChecking.ErrorName());
    +
    80 return false;
    +
    81 }
    +
    82
    +
    83 return true;
    +
    84 }
    +
    +
    85
    +
    +
    92 void parse(fabric::Plan& plan) override
    +
    93 {
    +
    94 RCLCPP_INFO(node_->get_logger(), "Plan being parsed: \n\n %s", plan.plan.c_str());
    +
    95
    +
    96 // parse the fabric::plan into a XML document
    +
    97 current_document_.Parse(plan.plan.c_str());
    +
    98
    +
    99 // Add a completion runner to the plan
    +
    100 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Adding completion runner to the plan");
    +
    101 add_completion_runner(current_document_, plan.plan_id);
    +
    102
    +
    103 // Debug: print the modified plan
    +
    104 std::string modified_plan;
    +
    105 convert_to_string(current_document_, modified_plan);
    +
    106 RCLCPP_DEBUG(node_->get_logger(), "[xml_parser] Plan after adding closing event :\n\n %s", modified_plan.c_str());
    +
    107
    +
    108 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Completion runner added. Extracting the plan element.");
    +
    109
    +
    110 // extract the plan element
    +
    111 plan_ = extract_plan(current_document_);
    +
    112
    +
    113 if (plan_ == nullptr)
    +
    114 throw fabric::fabric_exception("No <Plan> element found.");
    +
    115
    +
    116 RCLCPP_INFO(node_->get_logger(), "[xml_parser] <Plan> element extracted successfully.");
    +
    117
    +
    118 // check the syntax of the plan to make sure it contains valid XML elements and required attributes
    +
    119 std::string error_msg;
    +
    120 std::vector<std::string> control_list = { "sequential", "parallel_any", "parallel_all", "recovery" };
    +
    121
    +
    122 bool syntax_valid = check_syntax(plan_, control_list, plan.rejected_list, error_msg);
    +
    123
    +
    124 if (!syntax_valid)
    +
    125 {
    +
    126 throw fabric::fabric_exception("XML plan parsing failed: " + error_msg);
    +
    127 }
    +
    128 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Plan syntax validation successful");
    +
    129
    +
    130 // extract connections from the plan
    +
    131 extract_connections(plan_, plan);
    +
    132
    +
    133 RCLCPP_INFO(node_->get_logger(), "Finished parsing the plan");
    +
    134 }
    +
    +
    135
    +
    136protected:
    +
    +
    144 void convert_to_string(tinyxml2::XMLDocument& document_xml, std::string& document_string)
    +
    145 {
    +
    146 tinyxml2::XMLPrinter printer;
    +
    147 document_xml.Print(&printer);
    +
    148 document_string = printer.CStr();
    +
    149 }
    +
    +
    150
    +
    +
    159 bool search(std::vector<std::string> list, std::string value)
    +
    160 {
    +
    161 return (std::find(list.begin(), list.end(), value) != list.end());
    +
    162 }
    +
    +
    163
    +
    +
    173 tinyxml2::XMLElement* extract_plan(tinyxml2::XMLDocument& document)
    +
    174 {
    +
    175 std::string plan_tag(document.FirstChildElement()->Name());
    +
    176
    +
    177 if (plan_tag == "Plan")
    +
    178 return document.FirstChildElement("Plan")->FirstChildElement();
    +
    179 else
    +
    180 return nullptr;
    +
    181 }
    +
    +
    182
    +
    +
    191 inline bool convert_to_string(tinyxml2::XMLElement* element, std::string& parameters)
    +
    192 {
    +
    193 if (element)
    +
    194 {
    +
    195 tinyxml2::XMLPrinter printer;
    +
    196 element->Accept(&printer);
    +
    197 parameters = printer.CStr();
    +
    198 return true;
    +
    199 }
    +
    200 else
    +
    201 {
    +
    202 parameters = "";
    +
    203 return false;
    +
    204 }
    +
    205 }
    +
    +
    206
    +
    +
    218 bool check_syntax(tinyxml2::XMLElement* element, std::vector<std::string>& control_list, std::vector<std::string>& rejected, std::string& error)
    +
    219 {
    +
    220 const char* type = nullptr;
    +
    221 const char* interface = nullptr;
    +
    222 const char* provider = nullptr;
    +
    223
    +
    224 std::string elementTag(element->Name());
    +
    225
    +
    226 std::string parameter_string;
    +
    227 convert_to_string(element, parameter_string);
    +
    228
    +
    229 bool returnValue = true;
    +
    230
    +
    231 std::string typetag = "";
    +
    232 std::string interfacetag = "";
    +
    233 std::string providertag = "";
    +
    234
    +
    235 bool hasChildren = !element->NoChildren();
    +
    236 bool hasSiblings = (element->NextSiblingElement() != nullptr);
    +
    237
    +
    238 if (elementTag == "Control")
    +
    239 {
    +
    240 element->QueryStringAttribute("type", &type);
    +
    241
    +
    242 if (type)
    +
    243 {
    +
    244 typetag = type;
    +
    245
    +
    246 if (!search(control_list, typetag))
    +
    247 {
    +
    248 error = "Control tag '" + typetag + "' not available in the valid list";
    +
    249 rejected.push_back(parameter_string);
    +
    250 return false;
    +
    251 }
    +
    252 }
    +
    253 else
    +
    254 {
    +
    255 error = "Control tag missing 'type' attribute: " + parameter_string;
    +
    256 rejected.push_back(parameter_string);
    +
    257 return false;
    +
    258 }
    +
    259
    +
    260 if (hasChildren)
    +
    261 returnValue &= check_syntax(element->FirstChildElement(), control_list, rejected, error);
    +
    262
    +
    263 if (hasSiblings)
    +
    264 returnValue &= check_syntax(element->NextSiblingElement(), control_list, rejected, error);
    +
    265 }
    +
    266 else if (elementTag == "Runner")
    +
    267 {
    +
    268 element->QueryStringAttribute("interface", &interface);
    +
    269 element->QueryStringAttribute("provider", &provider);
    +
    270
    +
    271 if (not interface)
    +
    272 {
    +
    273 error = "Runner tag missing 'interface' attribute: " + parameter_string;
    +
    274 rejected.push_back(parameter_string);
    +
    275 return false;
    +
    276 }
    +
    277
    +
    278 if (not provider)
    +
    279 {
    +
    280 error = "Runner tag missing 'provider' attribute: " + parameter_string;
    +
    281 rejected.push_back(parameter_string);
    +
    282 return false;
    +
    283 }
    +
    284
    +
    285 if (hasSiblings)
    +
    286 returnValue &= check_syntax(element->NextSiblingElement(), control_list, rejected, error);
    +
    287 }
    +
    288 else
    +
    289 {
    +
    290 error = "XML element is not valid :" + parameter_string;
    +
    291 rejected.push_back(parameter_string);
    +
    292 return false;
    +
    293 }
    +
    294
    +
    295 return returnValue;
    +
    296 }
    +
    +
    297
    +
    +
    306 void add_completion_runner(tinyxml2::XMLDocument& document, const std::string& plan_id)
    +
    307 {
    +
    308 // Get the root <Plan> element
    +
    309 tinyxml2::XMLElement* plan = document.FirstChildElement("Plan");
    +
    310
    +
    311 // Create the outer <Control type="sequential"> element
    +
    312 tinyxml2::XMLElement* outerControl = document.NewElement("Control");
    +
    313 outerControl->SetAttribute("type", "sequential");
    +
    314 outerControl->SetAttribute("name", "fabric_completion_control");
    +
    315
    +
    316 // Move all existing children of <Plan> into the new outer control
    +
    317 while (tinyxml2::XMLNode* child = plan->FirstChild())
    +
    318 outerControl->InsertEndChild(child);
    +
    319
    +
    320 // Add the new outer control to the <Plan>
    +
    321 plan->InsertEndChild(outerControl);
    +
    322
    +
    323 // Create and append the new <Runner> element
    +
    324 tinyxml2::XMLElement* newRunner = document.NewElement("Runner");
    +
    325 newRunner->SetAttribute("interface", "fabric_capabilities/FabricCompletionRunner");
    +
    326 newRunner->SetAttribute("provider", "fabric_capabilities/FabricCompletionRunner");
    +
    327 newRunner->SetAttribute("plan_id", plan_id.c_str());
    +
    328 outerControl->InsertEndChild(newRunner);
    +
    329
    +
    330 RCLCPP_INFO(node_->get_logger(), "[xml_parser] CompletionRunner added to the plan");
    +
    331 }
    +
    +
    332
    +
    +
    341 int add_parallel_all(fabric::Plan& plan, int connection_id = 0, std::string description = "")
    +
    342 {
    +
    343 int input_count = 0;
    +
    344
    +
    345 // Since we are adding a parallel all connection, we need to identify the number of parallel runners
    +
    346 // that need to be multiplexed, which is equivalent to the number of success connections without a
    +
    347 // target on_success interface in the current plan
    +
    348 for (const auto& connection : plan.connections)
    +
    349 if (connection.second.on_success.interface == "")
    +
    350 input_count += 1;
    +
    351
    +
    352 fabric::connection node;
    +
    353 node.source.interface = "capabilities2_runner/InputMultiplexRunner";
    +
    354 node.source.provider = "capabilities2_runner/InputMultiplexRunner";
    +
    355 node.source.instance_id = runner_index;
    +
    356 node.source.parameters.set_value("input_count", input_count, capabilities2_events::OptionType::INT);
    +
    357
    +
    358 plan.connections[connection_id] = node;
    +
    359 plan.connections[connection_id].description = description;
    +
    360
    +
    361 // set the target_on_success for the new connection
    +
    362 for (auto& connection : plan.connections)
    +
    363 if (connection.second.on_success.interface == "")
    +
    364 connection.second.on_success = plan.connections[connection_id].source;
    +
    365
    +
    366 // increment the index for the next parallel all connection
    +
    367 runner_index += 1;
    +
    368
    +
    369 RCLCPP_INFO(node_->get_logger(), "[xml_parser] ParallelAll connection added to the plan with %d inputs, id %d", input_count, connection_id);
    +
    370
    +
    371 // return the next connection id
    +
    372 return connection_id;
    +
    373 }
    +
    +
    374
    +
    +
    383 int add_parallel_any(fabric::Plan& plan, int connection_id = 0, std::string description = "")
    +
    384 {
    +
    385 // Since we are adding a parallel_any connection, we only need to wait for a single success
    +
    386 // trigger to succeed, so we can set the input count to 1 for the multiplex runner
    +
    387 int input_count = 1;
    +
    388
    +
    389 // create a system runner for parallel any with the identified number of inputs
    +
    390 fabric::connection node;
    +
    391 node.source.interface = "capabilities2_runner/InputMultiplexRunner";
    +
    392 node.source.provider = "capabilities2_runner/InputMultiplexRunner";
    +
    393 node.source.instance_id = runner_index;
    +
    394 node.source.parameters.set_value("input_count", input_count, capabilities2_events::OptionType::INT);
    +
    395
    +
    396 plan.connections[connection_id] = node;
    +
    397 plan.connections[connection_id].description = description;
    +
    398
    +
    399 // set the on_success for the new connection
    +
    400 for (auto& connection : plan.connections)
    +
    401 if (connection.second.on_success.interface == "")
    +
    402 connection.second.on_success = plan.connections[connection_id].source;
    +
    403
    +
    404 // increment the index for the next parallel any connection
    +
    405 runner_index += 1;
    +
    406
    +
    407 RCLCPP_INFO(node_->get_logger(), "[xml_parser] ParallelAny connection added to the plan with id %d", connection_id);
    +
    408
    +
    409 // return the next connection id
    +
    410 return connection_id;
    +
    411 }
    +
    +
    412
    +
    422 // void check_and_update_runner_id(fabric::connection& predecessor, fabric::connection& successor)
    +
    423 // {
    +
    424 // // check if predecessor is a system runner and has parameters
    +
    425 // if (predecessor.source.interface.find("capabilities2_runner/InputMultiplexRunner") != std::string::npos)
    +
    426 // {
    +
    427 // // If the predecessor is a system runner, we need to update the successor's parameters with the predecessor's id
    +
    428 // if (predecessor.source.parameters.has_value("id"))
    +
    429 // {
    +
    430 // // Get the id attribute from the predecessor system runner
    +
    431 // int id = std::any_cast<int>(predecessor.source.parameters.get_value("id", 0));
    +
    432
    +
    433 // // Set the id attribute for the successor system runner
    +
    434 // successor.source.parameters.set_value("id", id, capabilities2_events::OptionType::INT);
    +
    435
    +
    436 // RCLCPP_INFO(node_->get_logger(), "[xml_parser] Updated successor runner id to %d", id);
    +
    437 // }
    +
    438 // }
    +
    439 // }
    +
    440
    +
    +
    449 capabilities2_events::EventParameters convert_xml_to_event_parameters(tinyxml2::XMLElement* element)
    +
    450 {
    +
    451 capabilities2_events::EventParameters parameters;
    +
    452
    +
    453 // Iterate through the attributes of the XML element and add them to the EventParameters
    +
    454 const tinyxml2::XMLAttribute* attr = element->FirstAttribute();
    +
    455
    +
    456 while (attr)
    +
    457 {
    +
    458 // key will always be a string.
    +
    459 std::string key = attr->Name();
    +
    460 std::string string_value = attr->Value();
    +
    461
    +
    462 // skip the interface attribute as it is already used for the connection's source interface
    +
    463 if (key == "interface")
    +
    464 {
    +
    465 attr = attr->Next();
    +
    466 continue;
    +
    467 }
    +
    468
    +
    469 // skip the provider attribute as it is already used for the connection's source provider
    +
    470 if (key == "provider")
    +
    471 {
    +
    472 attr = attr->Next();
    +
    473 continue;
    +
    474 }
    +
    475
    +
    476 // Treat booleans strictly as literal true/false (avoid misclassifying numeric strings like "0.5").
    +
    477 if (string_value == "true" || string_value == "false")
    +
    478 {
    +
    479 const bool bool_value = (string_value == "true");
    +
    480 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Extracted attribute: %s = %s (bool)", key.c_str(), bool_value ? "true" : "false");
    +
    481 parameters.set_value(key, bool_value, capabilities2_events::OptionType::BOOL);
    +
    482 }
    +
    483 else
    +
    484 {
    +
    485 // Prefer int when the value is an integer; otherwise parse as double if fully consumable.
    +
    486 char* int_end = nullptr;
    +
    487 errno = 0;
    +
    488 const long int_value_long = std::strtol(string_value.c_str(), &int_end, 10);
    +
    489
    +
    490 if (int_end != nullptr && *int_end == '\0' && errno == 0)
    +
    491 {
    +
    492 const int int_value = static_cast<int>(int_value_long);
    +
    493 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Extracted attribute: %s = %d (int)", key.c_str(), int_value);
    +
    494 parameters.set_value(key, int_value, capabilities2_events::OptionType::INT);
    +
    495 }
    +
    496 else
    +
    497 {
    +
    498 char* double_end = nullptr;
    +
    499 errno = 0;
    +
    500 const double double_value = std::strtod(string_value.c_str(), &double_end);
    +
    501
    +
    502 if (double_end != nullptr && *double_end == '\0' && errno == 0)
    +
    503 {
    +
    504 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Extracted attribute: %s = %f (double)", key.c_str(), double_value);
    +
    505 parameters.set_value(key, double_value, capabilities2_events::OptionType::DOUBLE);
    +
    506 }
    +
    507 else
    +
    508 {
    +
    509 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Extracted attribute: %s = %s (string)", key.c_str(), string_value.c_str());
    +
    510 parameters.set_value(key, string_value, capabilities2_events::OptionType::STRING);
    +
    511 }
    +
    512 }
    +
    513 }
    +
    514
    +
    515 attr = attr->Next();
    +
    516 }
    +
    517
    +
    518 return parameters;
    +
    519 }
    +
    +
    520
    +
    +
    527 int extract_connections(tinyxml2::XMLElement* element, fabric::Plan& plan, int connection_id = 0,
    +
    528 fabric::event connection_type = fabric::event::ON_SUCCESS, std::string conn_description = "")
    +
    529 {
    +
    530 int predecessor_id;
    +
    531 int last_conn_id = connection_id;
    +
    532
    +
    533 const char* type = nullptr;
    +
    534 const char* name = nullptr;
    +
    535 const char* interface = nullptr;
    +
    536 const char* provider = nullptr;
    +
    537
    +
    538 std::string elementTag(element->Name());
    +
    539
    +
    540 std::string typetag = "";
    +
    541 std::string description = "";
    +
    542 std::string interfacetag = "";
    +
    543 std::string providertag = "";
    +
    544
    +
    545 bool hasChildren = (element->FirstChildElement() != nullptr);
    +
    546 bool hasSiblings = (element->NextSiblingElement() != nullptr);
    +
    547
    +
    548 if (elementTag == "Control")
    +
    549 {
    +
    550 type = element->Attribute("type");
    +
    551 name = element->Attribute("name");
    +
    552
    +
    553 if (type)
    +
    554 typetag = type;
    +
    555
    +
    556 if (name)
    +
    557 description = name;
    +
    558
    +
    559 if (typetag == "sequential")
    +
    560 {
    +
    561 if (hasChildren)
    +
    562 last_conn_id = extract_connections(element->FirstChildElement(), plan, connection_id, fabric::event::ON_SUCCESS, description);
    +
    563 }
    +
    564 else if (typetag == "parallel_any")
    +
    565 {
    +
    566 if (hasChildren)
    +
    567 {
    +
    568 // extract plan.connections from the first child element
    +
    569 last_conn_id = extract_connections(element->FirstChildElement(), plan, connection_id, fabric::event::ON_START, description);
    +
    570
    +
    571 // add a system connection for parallel_any to proceed when at least one parallel runner is completed
    +
    572 last_conn_id = add_parallel_any(plan, last_conn_id + 1, "parallel_any_for_muxing_outputs");
    +
    573 }
    +
    574 }
    +
    575 else if (typetag == "parallel_all")
    +
    576 {
    +
    577 if (hasChildren)
    +
    578 {
    +
    579 // extract connections from the first child element
    +
    580 last_conn_id = extract_connections(element->FirstChildElement(), plan, connection_id, fabric::event::ON_START, description);
    +
    581
    +
    582 // add a system connection for parallel_all to proceed when all parallel runners are completed
    +
    583 last_conn_id = add_parallel_all(plan, last_conn_id + 1, "parallel_all_for_muxing_outputs");
    +
    584 }
    +
    585 }
    +
    586 else if (typetag == "recovery")
    +
    587 {
    +
    588 if (hasChildren)
    +
    589 {
    +
    590 // extract connections from the first child element
    +
    591 last_conn_id = extract_connections(element->FirstChildElement(), plan, connection_id, fabric::event::ON_FAILURE, description);
    +
    592
    +
    593 // add a system connection for recovery to proceed when the original runner or at least one recovery runner is completed
    +
    594 last_conn_id = add_parallel_any(plan, last_conn_id + 1, "parallel_any_for_muxing_recovery");
    +
    595 }
    +
    596 }
    +
    597
    +
    598 if (hasSiblings)
    +
    599 {
    +
    600 // continue extracting connections from the next sibling element
    +
    601 last_conn_id = extract_connections(element->NextSiblingElement(), plan, last_conn_id + 1, connection_type, conn_description);
    +
    602 }
    +
    603
    +
    604 return last_conn_id;
    +
    605 }
    +
    606 else if (elementTag == "Runner")
    +
    607 {
    +
    608 interface = element->Attribute("interface");
    +
    609 provider = element->Attribute("provider");
    +
    610
    +
    611 if (interface)
    +
    612 interfacetag = interface;
    +
    613
    +
    614 if (provider)
    +
    615 providertag = provider;
    +
    616
    +
    617 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Creating fabric connection: interface = %s, provider = %s", interfacetag.c_str(),
    +
    618 providertag.c_str());
    +
    619
    +
    620 fabric::connection connection;
    +
    621
    +
    622 connection.source.interface = interfacetag;
    +
    623 connection.source.provider = providertag;
    +
    624 connection.source.parameters = convert_xml_to_event_parameters(element);
    +
    625 connection.source.instance_id = runner_index;
    +
    626
    +
    627 predecessor_id = connection_id - 1;
    +
    628
    +
    629 plan.connections[connection_id] = connection;
    +
    630 plan.connections[connection_id].description = conn_description;
    +
    631
    +
    632 runner_index += 1;
    +
    633
    +
    634 if (connection_id != 0)
    +
    635 {
    +
    636 // if the predecessor is a system runner, we need to update the successor's parameters with the predecessor's id
    +
    637 // this->check_and_update_runner_id(connections[predecessor_id], connections[connection_id]);
    +
    638
    +
    639 if (connection_type == fabric::event::ON_SUCCESS)
    +
    640 {
    +
    641 // Set the target_on_success for the predecessor connection
    +
    642 plan.connections[predecessor_id].on_success = plan.connections[connection_id].source;
    +
    643
    +
    644 RCLCPP_INFO(node_->get_logger(), "[xml_parser] set on_success for id %d to interface %s", predecessor_id,
    +
    645 plan.connections[predecessor_id].on_success.interface.c_str());
    +
    646 }
    +
    647 else if (connection_type == fabric::event::ON_START)
    +
    648 {
    +
    649 // Set the target_on_start for the predecessor connection
    +
    650 plan.connections[predecessor_id].on_start = plan.connections[connection_id].source;
    +
    651 RCLCPP_INFO(node_->get_logger(), "[xml_parser] set on_start for id %d to interface %s", predecessor_id,
    +
    652 plan.connections[predecessor_id].on_start.interface.c_str());
    +
    653 }
    +
    654 else if (connection_type == fabric::event::ON_FAILURE)
    +
    655 {
    +
    656 // Set the target_on_failure for the predecessor connection
    +
    657 plan.connections[predecessor_id].on_failure = plan.connections[connection_id].source;
    +
    658 RCLCPP_INFO(node_->get_logger(), "[xml_parser] set on_failure for id %d to interface %s", predecessor_id,
    +
    659 plan.connections[predecessor_id].on_failure.interface.c_str());
    +
    660 }
    +
    661 }
    +
    662
    +
    663 if (hasSiblings)
    +
    664 last_conn_id = this->extract_connections(element->NextSiblingElement(), plan, connection_id + 1, connection_type);
    +
    665 else
    +
    666 last_conn_id = connection_id;
    +
    667
    +
    668 return last_conn_id;
    +
    669 }
    +
    670
    +
    671 // Fallback if an unexpected tag appears: return the current id unchanged
    +
    672 return last_conn_id;
    +
    673 }
    +
    +
    674
    +
    678 std::vector<std::string> control_list;
    +
    679
    +
    683 tinyxml2::XMLDocument system_doc;
    +
    684
    +
    688 int runner_index = 0;
    +
    689
    +
    693 tinyxml2::XMLElement* plan_ = nullptr;
    +
    694
    +
    698 tinyxml2::XMLDocument default_document;
    +
    699
    +
    703 tinyxml2::XMLDocument current_document_;
    +
    704};
    +
    +
    705} // namespace fabric
    +
    fabric::ParserBase
    Abstract base class for XML plan parsing plugins.
    Definition parser_base.hpp:18
    +
    fabric::ParserBase::initialize_base
    void initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
    Base initialization method for derived classes.
    Definition parser_base.hpp:64
    +
    fabric::ParserBase::node_
    rclcpp::Node::SharedPtr node_
    Shared pointer to the ROS2 node.
    Definition parser_base.hpp:73
    +
    fabric::XMLParser
    Syntax validation plugin for XML plans.
    Definition xml_parser_plugin.hpp:20
    +
    fabric::XMLParser::current_document_
    tinyxml2::XMLDocument current_document_
    XML Document to hold the current plan.
    Definition xml_parser_plugin.hpp:703
    +
    fabric::XMLParser::control_list
    std::vector< std::string > control_list
    List of valid control tags.
    Definition xml_parser_plugin.hpp:678
    +
    fabric::XMLParser::load_file
    bool load_file(const std::string &file_path, fabric::Plan &plan) override
    load a file into an XML document
    Definition xml_parser_plugin.hpp:44
    +
    fabric::XMLParser::add_parallel_all
    int add_parallel_all(fabric::Plan &plan, int connection_id=0, std::string description="")
    Adds a system connection for parallel input multiplexing with waiting for all inputs.
    Definition xml_parser_plugin.hpp:341
    +
    fabric::XMLParser::search
    bool search(std::vector< std::string > list, std::string value)
    search a string in a vector of strings
    Definition xml_parser_plugin.hpp:159
    +
    fabric::XMLParser::XMLParser
    XMLParser()=default
    +
    fabric::XMLParser::parse
    void parse(fabric::Plan &plan) override
    Parse the given XML plan.
    Definition xml_parser_plugin.hpp:92
    +
    fabric::XMLParser::plan_
    tinyxml2::XMLElement * plan_
    Pointer to the plan element in the XML document.
    Definition xml_parser_plugin.hpp:693
    +
    fabric::XMLParser::extract_plan
    tinyxml2::XMLElement * extract_plan(tinyxml2::XMLDocument &document)
    Extract the <Plan> element from the XML document.
    Definition xml_parser_plugin.hpp:173
    +
    fabric::XMLParser::check_compatibility
    bool check_compatibility(const fabric::Plan &plan) override
    Check the compatibility of the given plan with the given parser.
    Definition xml_parser_plugin.hpp:68
    +
    fabric::XMLParser::system_doc
    tinyxml2::XMLDocument system_doc
    XML Document for system runners.
    Definition xml_parser_plugin.hpp:683
    +
    fabric::XMLParser::runner_index
    int runner_index
    Index for assigning unique IDs to system runners.
    Definition xml_parser_plugin.hpp:688
    +
    fabric::XMLParser::add_parallel_any
    int add_parallel_any(fabric::Plan &plan, int connection_id=0, std::string description="")
    Adds a system connection for parallel input multiplexing with waiting for any inputs.
    Definition xml_parser_plugin.hpp:383
    +
    fabric::XMLParser::default_document
    tinyxml2::XMLDocument default_document
    Default XML document for loading from file.
    Definition xml_parser_plugin.hpp:698
    +
    fabric::XMLParser::~XMLParser
    virtual ~XMLParser()=default
    +
    fabric::XMLParser::add_completion_runner
    void add_completion_runner(tinyxml2::XMLDocument &document, const std::string &plan_id)
    add a completion runner to the plan This function adds a new <Control> element with type "sequential"...
    Definition xml_parser_plugin.hpp:306
    +
    fabric::XMLParser::convert_to_string
    void convert_to_string(tinyxml2::XMLDocument &document_xml, std::string &document_string)
    convert XMLDocument to std::string
    Definition xml_parser_plugin.hpp:144
    +
    fabric::XMLParser::convert_to_string
    bool convert_to_string(tinyxml2::XMLElement *element, std::string &parameters)
    convert XMLElement to std::string
    Definition xml_parser_plugin.hpp:191
    +
    fabric::XMLParser::initialize
    void initialize(const rclcpp::Node::SharedPtr &node) override
    Initialize the XML parser plugin.
    Definition xml_parser_plugin.hpp:30
    +
    fabric::XMLParser::extract_connections
    int extract_connections(tinyxml2::XMLElement *element, fabric::Plan &plan, int connection_id=0, fabric::event connection_type=fabric::event::ON_SUCCESS, std::string conn_description="")
    parse through the plan and extract the connections
    Definition xml_parser_plugin.hpp:527
    +
    fabric::XMLParser::convert_xml_to_event_parameters
    capabilities2_events::EventParameters convert_xml_to_event_parameters(tinyxml2::XMLElement *element)
    Check and update the system runner id for the successor based on the predecessor's id.
    Definition xml_parser_plugin.hpp:449
    +
    fabric::XMLParser::check_syntax
    bool check_syntax(tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
    check the plan to make sure all control and runner XML elements are valid with minimal required attri...
    Definition xml_parser_plugin.hpp:218
    +
    fabric
    Definition parser_base.hpp:9
    +
    fabric::event
    event
    Enumeration for different event types in connections.
    Definition structs.hpp:15
    +
    fabric::ON_START
    @ ON_START
    Definition structs.hpp:16
    +
    fabric::ON_FAILURE
    @ ON_FAILURE
    Definition structs.hpp:18
    +
    fabric::ON_SUCCESS
    @ ON_SUCCESS
    Definition structs.hpp:17
    +
    parser_base.hpp
    +
    fabric::Plan
    Definition structs.hpp:70
    +
    fabric::Plan::rejected_list
    std::vector< std::string > rejected_list
    Definition structs.hpp:75
    +
    fabric::Plan::connections
    std::map< int, connection > connections
    Definition structs.hpp:74
    +
    fabric::Plan::plan
    std::string plan
    Definition structs.hpp:72
    +
    fabric::Plan::plan_id
    std::string plan_id
    Definition structs.hpp:71
    +
    fabric::connection
    Structure representing connections between nodes.
    Definition structs.hpp:42
    +
    fabric::connection::on_success
    node on_success
    Definition structs.hpp:46
    +
    fabric::connection::source
    node source
    Definition structs.hpp:43
    +
    fabric::fabric_exception
    Base class for driver exceptions.
    Definition exception.hpp:14
    +
    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
    +
    fabric::node::provider
    std::string provider
    Definition structs.hpp:28
    +
    fabric::node::interface
    std::string interface
    Definition structs.hpp:27
    +
    fabric::node::parameters
    capabilities2_events::EventParameters parameters
    Definition structs.hpp:29
    +
    fabric::node::instance_id
    int instance_id
    Definition structs.hpp:30
    +
    + +
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    + + diff --git a/docs/html/xml__plan_8md.html b/docs/html/xml__plan_8md.html new file mode 100644 index 0000000..3155939 --- /dev/null +++ b/docs/html/xml__plan_8md.html @@ -0,0 +1,81 @@ + + + + + + + +Fabric: docs/xml_plan.md File Reference + + + + + + + + + +
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    + + diff --git a/docs/readme.md b/docs/readme.md new file mode 100644 index 0000000..b2836b4 --- /dev/null +++ b/docs/readme.md @@ -0,0 +1,15 @@ +# Docs + +The documentation site is generated with Doxygen from the existing Markdown in this `docs/` tree together with comments from the source code. The Doxygen configuration lives at the repository root in [`Doxygen`](../Doxygen). + +```bash +# install doxygen if it is not already available +sudo apt-get update && sudo apt-get install -y doxygen + +# from the repository root +doxygen Doxygen +``` + +The generated HTML site is written to `docs/html/` and the entry page is `docs/html/index.html`. + +For GitHub Pages, this repository can use GitHub Actions as both the build source and the deployment source. The workflow in `.github/workflows/doxygen-pages.yml` rebuilds the site whenever documentation or source files change and deploys the generated `docs/html/` artifact to Pages. \ No newline at end of file From ae54ba79ee0b537c73c59984030fc14cf3303b0a Mon Sep 17 00:00:00 2001 From: Kalana Ratnayake Date: Sat, 18 Jul 2026 10:02:57 +0000 Subject: [PATCH 2/2] added doxygen for documentation --- docs/html/README_8md.html | 81 - docs/html/TODO_8md.html | 81 - docs/html/annotated.html | 98 - docs/html/api_8md.html | 81 - docs/html/bc_s.png | Bin 676 -> 0 bytes docs/html/bc_sd.png | Bin 635 -> 0 bytes docs/html/bond__client_8hpp.html | 126 - docs/html/bond__client_8hpp__dep__incl.map | 9 - docs/html/bond__client_8hpp__dep__incl.md5 | 1 - docs/html/bond__client_8hpp__dep__incl.png | Bin 16371 -> 0 bytes docs/html/bond__client_8hpp__incl.map | 9 - docs/html/bond__client_8hpp__incl.md5 | 1 - docs/html/bond__client_8hpp__incl.png | Bin 10311 -> 0 bytes docs/html/bond__client_8hpp_source.html | 189 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    Here are the classes, structs, unions and interfaces with brief descriptions:
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    [detail level 12]
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     ▼Nfabric
     CCapabilityClientClass for capability client interactions
     CCapabilityInfo
     CCompatibilityValidationSyntax validation plugin for XML plans
     CconnectionStructure representing connections between nodes
     CFabricClass representing the main server of the fabric
     Cfabric_exceptionBase class for driver exceptions
     CnodeStructure representing a node in the fabric
     CParserBaseAbstract base class for XML plan parsing plugins
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     CValidationBaseAbstract base class for XML plan validation plugins
     CXMLParserSyntax validation plugin for XML plans
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    bond_client.hpp File Reference
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    #include <string>
    -#include <bondcpp/bond.hpp>
    -#include <rclcpp/rclcpp.hpp>
    -
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    -Classes

    class  BondClient
     
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zuV#_X_2*xB%j4`G%;uNx?1E7UY<>q25Z?KLeV|cKHCSuZjR*(`u;}u=b3181ZOUh@ z0z8Uk>BM@`Gn0a8Tzymut^9+=aBaCTr-l zyJ)SDso5gpgl<31romoUAu>O_K~`ta$>x$WGC!Xl_Hjm9 z4ge4a!7a>Gx-Y${pWj-8!$%I6+dxjTfl_b|c2X{eLYp7-a0mjE&PphAroJ7lic4!$ zJ&(2QebOEuA0MJM0{yk!uJ7zO&BY%NEY@{H$k0$zVA*Jg8a}b2sGKwP&@tb=&|r)C z_q_tqnwA?M1X|;iL!kJeUkyt7|NGWdy+k0qyp1n6CuH?rVSSD~KR@R^VbklY{q9?m zXbxE9OFm3md?apdx*QnrM2dKg=k5MFx4s@z>&$x_yq5ws9rK`61seJP`sk~@_w(u+ W+pm&WHV4HYNm^W9tWxw-;Qs*AGTlA^ diff --git a/docs/html/bond__client_8hpp_source.html b/docs/html/bond__client_8hpp_source.html deleted file mode 100644 index b19a53b..0000000 --- a/docs/html/bond__client_8hpp_source.html +++ /dev/null @@ -1,189 +0,0 @@ - - - - - - - -Fabric: fabric_server/include/fabric_server/bond_client.hpp Source File - - - - - - - - - -
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    bond_client.hpp
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    1#pragma once
    -
    2#include <string>
    -
    3#include <bondcpp/bond.hpp>
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    4#include <rclcpp/rclcpp.hpp>
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    5
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    6class BondClient
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    7{
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    8public:
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    15 BondClient(rclcpp::Node::SharedPtr node, const std::string &bond_id)
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    16 {
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    17 bond_id_ = bond_id;
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    18 node_ = node;
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    19
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    20 //get the bond topic from parameter server
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    21 std::string bond_topic_param = "capability_client.bond_topic";
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    22 std::string bond_topic_value = "/capabilities/bond";
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    23
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    24 if (!node_->has_parameter(bond_topic_param))
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    25 node_->declare_parameter<std::string>(bond_topic_param, bond_topic_value);
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    26
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    27 if (!node_->get_parameter(bond_topic_param, topic_) || topic_.empty())
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    28 topic_ = bond_topic_value;
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    29 }
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    30
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    35 void start()
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    36 {
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    37 RCLCPP_INFO(node_->get_logger(), "Creating bond to capabilities server with id: %s", bond_id_.c_str());
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    38
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    39 bond_ = std::make_unique<bond::Bond>(topic_, bond_id_, node_, std::bind(&BondClient::on_broken, this), std::bind(&BondClient::on_formed, this));
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    40
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    41 bond_->setHeartbeatPeriod(0.10);
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    42 bond_->setHeartbeatTimeout(10.0);
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    43 bond_->start();
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    44
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    45 RCLCPP_INFO(node_->get_logger(), "Bond started with capabilities server with id: %s", bond_id_.c_str());
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    46 }
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    47
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    52 void stop()
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    53 {
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    54 RCLCPP_INFO(node_->get_logger(), "Destroying bond to capabilities server with id: %s", bond_id_.c_str());
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    55
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    56 if (bond_)
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    57 {
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    58 bond_.reset();
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    59 RCLCPP_INFO(node_->get_logger(), "Bond stopped with capabilities server with id: %s", bond_id_.c_str());
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    60 }
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    61 }
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    62
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    63 ~BondClient()
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    64 {
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    65 stop();
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    66 }
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    67
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    68private:
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    73 void on_formed()
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    74 {
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    75 // log bond established event
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    76 RCLCPP_INFO(node_->get_logger(), "Bond with capabilities server formed with id: %s", bond_id_.c_str());
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    77 }
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    78
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    83 void on_broken()
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    84 {
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    85 // log bond established event
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    86 RCLCPP_INFO(node_->get_logger(), "Bond with capabilities server broken with id: %s", bond_id_.c_str());
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    87 }
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    88
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    90 rclcpp::Node::SharedPtr node_;
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    91
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    93 std::string bond_id_;
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    94
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    96 std::string topic_;
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    97
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    99 std::shared_ptr<bond::Bond> bond_;
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    100};
    -
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    BondClient
    Definition bond_client.hpp:7
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    BondClient::on_formed
    void on_formed()
    callback function for bond formed event
    Definition bond_client.hpp:73
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    BondClient::bond_
    std::shared_ptr< bond::Bond > bond_
    Definition bond_client.hpp:99
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    BondClient::start
    void start()
    start the bond
    Definition bond_client.hpp:35
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    BondClient::on_broken
    void on_broken()
    callback function for bond broken event
    Definition bond_client.hpp:83
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    BondClient::topic_
    std::string topic_
    Definition bond_client.hpp:96
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    BondClient::BondClient
    BondClient(rclcpp::Node::SharedPtr node, const std::string &bond_id)
    Construct a new Bond Client object.
    Definition bond_client.hpp:15
    -
    BondClient::~BondClient
    ~BondClient()
    Definition bond_client.hpp:63
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    BondClient::bond_id_
    std::string bond_id_
    Definition bond_client.hpp:93
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    BondClient::node_
    rclcpp::Node::SharedPtr node_
    Definition bond_client.hpp:90
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    BondClient::stop
    void stop()
    stop the bond
    Definition bond_client.hpp:52
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    capability_client.hpp File Reference
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    -
    #include <chrono>
    -#include <mutex>
    -#include <condition_variable>
    -#include <bondcpp/bond.hpp>
    -#include <rclcpp/rclcpp.hpp>
    -#include <fabric_base/utils/structs.hpp>
    -#include <fabric_base/utils/exception.hpp>
    -#include <fabric_base/utils/xml_helper.hpp>
    -#include <capabilities2_msgs/srv/establish_bond.hpp>
    -#include <capabilities2_msgs/srv/get_interfaces.hpp>
    -#include <capabilities2_msgs/srv/get_semantic_interfaces.hpp>
    -#include <capabilities2_msgs/srv/get_providers.hpp>
    -#include <capabilities2_msgs/srv/use_capability.hpp>
    -#include <capabilities2_msgs/srv/free_capability.hpp>
    -#include <capabilities2_msgs/srv/connect_capability.hpp>
    -#include <capabilities2_msgs/srv/trigger_capability.hpp>
    -#include <capabilities2_msgs/msg/capability_event_code.hpp>
    -
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    -Classes

    class  fabric::CapabilityClient
     Class for capability client interactions. More...
     
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    namespace  fabric
     
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f258f2f..0000000 --- a/docs/html/capability__client_8hpp_source.html +++ /dev/null @@ -1,739 +0,0 @@ - - - - - - - -Fabric: fabric_server/include/fabric_server/capability_client.hpp Source File - - - - - - - - - -

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    capability_client.hpp
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    -Go to the documentation of this file.
    1#pragma once
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    2
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    3#include <chrono>
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    4#include <mutex>
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    5#include <condition_variable>
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    6
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    7#include <bondcpp/bond.hpp>
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    8#include <rclcpp/rclcpp.hpp>
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    9
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    10#include <fabric_base/utils/structs.hpp>
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    11#include <fabric_base/utils/exception.hpp>
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    12#include <fabric_base/utils/xml_helper.hpp>
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    13
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    14#include <capabilities2_msgs/srv/establish_bond.hpp>
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    15#include <capabilities2_msgs/srv/get_interfaces.hpp>
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    16#include <capabilities2_msgs/srv/get_semantic_interfaces.hpp>
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    17#include <capabilities2_msgs/srv/get_providers.hpp>
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    18#include <capabilities2_msgs/srv/use_capability.hpp>
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    19#include <capabilities2_msgs/srv/free_capability.hpp>
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    20#include <capabilities2_msgs/srv/connect_capability.hpp>
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    21#include <capabilities2_msgs/srv/trigger_capability.hpp>
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    22
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    23#include <capabilities2_msgs/msg/capability_event_code.hpp>
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    24
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    25namespace fabric
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    26{
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    27
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    32class CapabilityClient
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    33{
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    34public:
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    35 using GetInterfaces = capabilities2_msgs::srv::GetInterfaces;
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    36 using GetSemanticInterfaces = capabilities2_msgs::srv::GetSemanticInterfaces;
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    37 using GetProviders = capabilities2_msgs::srv::GetProviders;
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    38 using EstablishBond = capabilities2_msgs::srv::EstablishBond;
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    39 using UseCapability = capabilities2_msgs::srv::UseCapability;
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    40 using FreeCapability = capabilities2_msgs::srv::FreeCapability;
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    41 using ConnectCapability = capabilities2_msgs::srv::ConnectCapability;
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    42 using TriggerCapability = capabilities2_msgs::srv::TriggerCapability;
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    43
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    44 using CapabilityEventCode = capabilities2_msgs::msg::CapabilityEventCode;
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    45
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    46 using GetInterfacesClient = rclcpp::Client<GetInterfaces>;
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    47 using GetSemanticInterfacesClient = rclcpp::Client<GetSemanticInterfaces>;
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    48 using GetProvidersClient = rclcpp::Client<GetProviders>;
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    49 using EstablishBondClient = rclcpp::Client<EstablishBond>;
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    50 using UseCapabilityClient = rclcpp::Client<UseCapability>;
    -
    51 using FreeCapabilityClient = rclcpp::Client<FreeCapability>;
    -
    52 using ConnectCapabilityClient = rclcpp::Client<ConnectCapability>;
    -
    53 using TriggerCapabilityClient = rclcpp::Client<TriggerCapability>;
    -
    54
    -
    -
    55 CapabilityClient() {
    -
    56
    -
    57 };
    -
    -
    58
    -
    59 virtual ~CapabilityClient() = default;
    -
    60
    -
    -
    66 virtual void initialize(const rclcpp::Node::SharedPtr& node)
    -
    67 {
    -
    68 node_ = node;
    -
    69
    -
    70 if (!node_->has_parameter("capability_client.service_wait_timeout_sec"))
    -
    71 node_->declare_parameter<int>("capability_client.service_wait_timeout_sec", -1);
    -
    72 service_wait_timeout_sec_ = node_->get_parameter("capability_client.service_wait_timeout_sec").as_int();
    -
    73
    -
    74 node_->declare_parameter<std::string>("capability_client.services.get_interfaces", "/capabilities/get_interfaces");
    -
    75 node_->declare_parameter<std::string>("capability_client.services.get_semantic_interfaces", "/capabilities/get_semantic_interfaces");
    -
    76 node_->declare_parameter<std::string>("capability_client.services.get_providers", "/capabilities/get_providers");
    -
    77 node_->declare_parameter<std::string>("capability_client.services.establish_bond", "/capabilities/establish_bond");
    -
    78 node_->declare_parameter<std::string>("capability_client.services.use_capability", "/capabilities/use_capability");
    -
    79 node_->declare_parameter<std::string>("capability_client.services.free_capability", "/capabilities/free_capability");
    -
    80 node_->declare_parameter<std::string>("capability_client.services.trigger_capability", "/capabilities/trigger_capability");
    -
    81 node_->declare_parameter<std::string>("capability_client.services.connect_capability", "/capabilities/connect_capability");
    -
    82
    -
    83 node_->get_parameter("capability_client.services.get_interfaces", get_interfaces_);
    -
    84 node_->get_parameter("capability_client.services.get_semantic_interfaces", get_semantic_interfaces_);
    -
    85 node_->get_parameter("capability_client.services.get_providers", get_providers_);
    -
    86 node_->get_parameter("capability_client.services.establish_bond", establish_bond_);
    -
    87 node_->get_parameter("capability_client.services.use_capability", use_capability_);
    -
    88 node_->get_parameter("capability_client.services.free_capability", free_capability_);
    -
    89 node_->get_parameter("capability_client.services.trigger_capability", trigger_capability_);
    -
    90 node_->get_parameter("capability_client.services.connect_capability", connect_capability_);
    -
    91
    -
    92 get_interfaces_client_ = node_->create_client<GetInterfaces>(get_interfaces_);
    -
    93 get_sem_interf_client_ = node_->create_client<GetSemanticInterfaces>(get_semantic_interfaces_);
    -
    94 get_providers_client_ = node_->create_client<GetProviders>(get_providers_);
    -
    95 establish_bond_client_ = node_->create_client<EstablishBond>(establish_bond_);
    -
    96 use_capability_client_ = node_->create_client<UseCapability>(use_capability_);
    -
    97 free_capability_client_ = node_->create_client<FreeCapability>(free_capability_);
    -
    98 trig_capability_client_ = node_->create_client<TriggerCapability>(trigger_capability_);
    -
    99 connect_capability_client_ = node_->create_client<ConnectCapability>(connect_capability_);
    -
    100
    -
    101 // Wait for services to become available
    -
    102 wait_for_service(get_interfaces_client_, get_interfaces_);
    -
    103 wait_for_service(get_sem_interf_client_, get_semantic_interfaces_);
    -
    104 wait_for_service(get_providers_client_, get_providers_);
    -
    105 wait_for_service(establish_bond_client_, establish_bond_);
    -
    106 wait_for_service(use_capability_client_, use_capability_);
    -
    107 wait_for_service(free_capability_client_, free_capability_);
    -
    108 wait_for_service(trig_capability_client_, trigger_capability_);
    -
    109 wait_for_service(connect_capability_client_, connect_capability_);
    -
    110
    -
    111 RCLCPP_INFO(node_->get_logger(), "[Capability client] initialized.");
    -
    112 }
    -
    -
    113
    -
    -
    121 void getInterfaces(std::vector<CapabilityInfo>& capabilities)
    -
    122 {
    -
    123 RCLCPP_INFO(node_->get_logger(), "[Capability client] requesting Interface information");
    -
    124
    -
    125 auto request_interface = std::make_shared<GetInterfaces::Request>();
    -
    126
    -
    127 bool completed = false;
    -
    128 std::mutex mtx;
    -
    129 std::condition_variable cv;
    -
    130 std::unique_lock<std::mutex> lock(mtx);
    -
    131
    -
    132 // request data from the server
    -
    133 auto result_interface_future = get_interfaces_client_->async_send_request(
    -
    134 request_interface, [this, &completed, &cv, &capabilities](GetInterfacesClient::SharedFuture future) {
    -
    135 if (!future.valid())
    -
    136 {
    -
    137 throw fabric::fabric_exception("Failed to get Interface information from "
    -
    138 "server");
    -
    139 }
    -
    140
    -
    141 auto response = future.get();
    -
    142
    -
    143 for (const auto& interface : response->interfaces)
    -
    144 {
    -
    145 CapabilityInfo info;
    -
    146 info.interface = interface;
    -
    147 info.is_semantic = false;
    -
    148
    -
    149 capabilities.push_back(info);
    -
    150 }
    -
    151
    -
    152 completed = true;
    -
    153 cv.notify_all();
    -
    154 });
    -
    155
    -
    156 // wait for the response
    -
    157 cv.wait(lock, [&completed]() { return completed; });
    -
    158
    -
    159 RCLCPP_INFO(node_->get_logger(), "[Capability client] received %d interfaces from server\n", static_cast<int>(capabilities.size()));
    -
    160 }
    -
    -
    161
    -
    -
    168 void getSemanticInterfaces(std::vector<CapabilityInfo>& capabilities)
    -
    169 {
    -
    170 int interface_count = capabilities.size();
    -
    171
    -
    172 std::vector<CapabilityInfo> new_capabilities;
    -
    173
    -
    174 for (auto& capability : capabilities)
    -
    175 {
    -
    176 RCLCPP_INFO(node_->get_logger(), "[Capability client] checking %s for semantic interfaces", capability.interface.c_str());
    -
    177
    -
    178 auto request_semantic = std::make_shared<GetSemanticInterfaces::Request>();
    -
    179 request_semantic->interface = capability.interface;
    -
    180
    -
    181 bool completed = false;
    -
    182 std::mutex mtx;
    -
    183 std::condition_variable cv;
    -
    184 std::unique_lock<std::mutex> lock(mtx);
    -
    185
    -
    186 // request semantic interface from the server
    -
    187 auto result_semantic_future = get_sem_interf_client_->async_send_request(
    -
    188 request_semantic, [this, &new_capabilities, &completed, &cv](GetSemanticInterfacesClient::SharedFuture future) {
    -
    189 if (!future.valid())
    -
    190 {
    -
    191 throw fabric::fabric_exception("Failed to get Semantic Interface information from server");
    -
    192 }
    -
    193
    -
    194 auto response = future.get();
    -
    195
    -
    196 // add semantic interfaces to the capability info
    -
    197 for (const auto& interface : response->semantic_interfaces)
    -
    198 {
    -
    199 CapabilityInfo info;
    -
    200 info.interface = interface;
    -
    201 info.is_semantic = true;
    -
    202
    -
    203 new_capabilities.push_back(info);
    -
    204 RCLCPP_INFO(node_->get_logger(), "[Capability client] Semantic interface: %s added\n", interface.c_str());
    -
    205 }
    -
    206
    -
    207 completed = true;
    -
    208 cv.notify_all();
    -
    209 });
    -
    210
    -
    211 // wait for the response
    -
    212 cv.wait(lock, [&completed]() { return completed; });
    -
    213 }
    -
    214
    -
    215 // append the new semantic interfaces to the original capabilities list
    -
    216 capabilities.insert(capabilities.end(), new_capabilities.begin(), new_capabilities.end());
    -
    217 }
    -
    -
    218
    -
    -
    226 void getProviders(std::vector<CapabilityInfo>& capabilities)
    -
    227 {
    -
    228 for (auto& capability : capabilities)
    -
    229 {
    -
    230 RCLCPP_INFO(node_->get_logger(), "[Capability client] requesting provider for %s", capability.interface.c_str());
    -
    231
    -
    232 auto request_providers = std::make_shared<GetProviders::Request>();
    -
    233
    -
    234 // request providers of the semantic interface
    -
    235 request_providers->interface = capability.interface;
    -
    236 request_providers->include_semantic = capability.is_semantic;
    -
    237
    -
    238 bool completed = false;
    -
    239 std::mutex mtx;
    -
    240 std::condition_variable cv;
    -
    241 std::unique_lock<std::mutex> lock(mtx);
    -
    242
    -
    243 auto result_providers_future =
    -
    244 get_providers_client_->async_send_request(request_providers, [this, &capability, &completed, &cv](GetProvidersClient::SharedFuture future) {
    -
    245 if (!future.valid())
    -
    246 {
    -
    247 throw fabric::fabric_exception("Failed to get Provider information from server");
    -
    248 }
    -
    249
    -
    250 auto response = future.get();
    -
    251 capability.alt_providers = response->providers;
    -
    252 capability.provider = response->default_provider;
    -
    253 completed = true;
    -
    254 cv.notify_all();
    -
    255 });
    -
    256
    -
    257 // wait for the response
    -
    258 cv.wait(lock, [&completed]() { return completed; });
    -
    259
    -
    260 RCLCPP_INFO(node_->get_logger(), "[Capability client] received for %s, default provider: %s, number of alternative providers: %d\n",
    -
    261 capability.interface.c_str(), capability.provider.c_str(), static_cast<int>(capability.alt_providers.size()));
    -
    262 }
    -
    263 }
    -
    -
    264
    -
    -
    270 std::string request_bond()
    -
    271 {
    -
    272 RCLCPP_INFO(node_->get_logger(), "[Capability client] requesting bond id");
    -
    273
    -
    274 // create bond establishing server request
    -
    275 auto request_bond = std::make_shared<EstablishBond::Request>();
    -
    276
    -
    277 std::string bond_id;
    -
    278 bool completed = false;
    -
    279 std::mutex mtx;
    -
    280 std::condition_variable cv;
    -
    281 std::unique_lock<std::mutex> lock(mtx);
    -
    282
    -
    283 // send the request
    -
    284 auto result_future =
    -
    285 establish_bond_client_->async_send_request(request_bond, [&bond_id, &completed, &cv, this](EstablishBondClient::SharedFuture future) {
    -
    286 if (!future.valid())
    -
    287 {
    -
    288 throw fabric::fabric_exception("Failed to establish bond with capabilities2 server");
    -
    289 }
    -
    290
    -
    291 auto response = future.get();
    -
    292 bond_id = response->bond_id;
    -
    293 RCLCPP_INFO(node_->get_logger(), "[Capability client] received bond id : %s\n", bond_id.c_str());
    -
    294
    -
    295 completed = true;
    -
    296 cv.notify_all();
    -
    297 });
    -
    298
    -
    299 // wait for the response
    -
    300 cv.wait(lock, [&completed]() { return completed; });
    -
    301
    -
    302 return bond_id;
    -
    303 }
    -
    -
    304
    -
    -
    312 void use_capabilities(fabric::Plan& plan)
    -
    313 {
    -
    314 int index = 0;
    -
    315
    -
    316 for (const auto& [id, connection] : plan.connections)
    -
    317 {
    -
    318 index++;
    -
    319
    -
    320 auto request_use = std::make_shared<UseCapability::Request>();
    -
    321 request_use->capability = connection.source.interface;
    -
    322 request_use->preferred_provider = connection.source.provider;
    -
    323 request_use->bond_id = plan.bond_id;
    -
    324
    -
    325 RCLCPP_INFO(node_->get_logger(), "[Capability client] starting capability %d : %s", index, connection.source.interface.c_str());
    -
    326
    -
    327 bool completed = false;
    -
    328 std::mutex mtx;
    -
    329 std::condition_variable cv;
    -
    330 std::unique_lock<std::mutex> lock(mtx);
    -
    331
    -
    332 auto result_future = use_capability_client_->async_send_request(request_use, [this, &completed, &cv](UseCapabilityClient::SharedFuture future) {
    -
    333 if (!future.valid())
    -
    334 {
    -
    335 throw fabric::fabric_exception("Failed to use capability");
    -
    336 }
    -
    337
    -
    338 auto response = future.get();
    -
    339 completed = true;
    -
    340 cv.notify_all();
    -
    341 });
    -
    342
    -
    343 // wait for the response
    -
    344 cv.wait(lock, [&completed]() { return completed; });
    -
    345
    -
    346 RCLCPP_INFO(node_->get_logger(), "[Capability client] capability %s started successfully.\n", connection.source.interface.c_str());
    -
    347 started_capabilities_.push_back(connection.source.interface);
    -
    348 }
    -
    349 }
    -
    -
    350
    -
    -
    358 void free_capabilities(fabric::Plan& plan)
    -
    359 {
    -
    360 // track freed capabilities
    -
    361 std::vector<std::string> freed_capabilities;
    -
    362
    -
    363 // prepare to free all started capabilities
    -
    364 for (const auto& capability : started_capabilities_)
    -
    365 {
    -
    366 // check if the capability is part of the plan connections
    -
    367 bool found = false;
    -
    368 for (const auto& [id, connection] : plan.connections)
    -
    369 {
    -
    370 if (connection.source.interface == capability)
    -
    371 {
    -
    372 found = true;
    -
    373 break;
    -
    374 }
    -
    375 }
    -
    376
    -
    377 bool completed = false;
    -
    378 std::mutex mtx;
    -
    379 std::condition_variable cv;
    -
    380 std::unique_lock<std::mutex> lock(mtx);
    -
    381
    -
    382 if (found)
    -
    383 {
    -
    384 // create free capability request
    -
    385 auto request_free = std::make_shared<FreeCapability::Request>();
    -
    386 request_free->capability = capability;
    -
    387 request_free->bond_id = plan.bond_id;
    -
    388
    -
    389 // send the request
    -
    390 auto result_future = free_capability_client_->async_send_request(
    -
    391 request_free, [this, &completed, &cv, &capability](FreeCapabilityClient::SharedFuture future) {
    -
    392 if (!future.valid())
    -
    393 {
    -
    394 throw fabric::fabric_exception("Failed to free capability " + capability);
    -
    395 }
    -
    396
    -
    397 auto response = future.get();
    -
    398 RCLCPP_INFO(node_->get_logger(), "[Capability client] capability %s freed successfully.\n", capability.c_str());
    -
    399 completed = true;
    -
    400 cv.notify_all();
    -
    401 });
    -
    402
    -
    403 // wait for the response
    -
    404 cv.wait(lock, [&completed]() { return completed; });
    -
    405
    -
    406 // track successfully freed capabilities
    -
    407 freed_capabilities.push_back(capability);
    -
    408 }
    -
    409 else
    -
    410 {
    -
    411 RCLCPP_WARN(node_->get_logger(), "[Capability client] capability %s was not started as part of the plan, skipping free request.",
    -
    412 capability.c_str());
    -
    413 }
    -
    414 }
    -
    415
    -
    416 // remove freed capabilities from started list
    -
    417 for (const auto& capability : freed_capabilities)
    -
    418 started_capabilities_.erase(std::remove(started_capabilities_.begin(), started_capabilities_.end(), capability), started_capabilities_.end());
    -
    419 }
    -
    -
    420
    -
    -
    421 void connect_capability(const std::string& bond_id, uint8_t code, const fabric::node& source, const fabric::node& target)
    -
    422 {
    -
    423 auto request = std::make_shared<ConnectCapability::Request>();
    -
    424
    -
    425 request->bond_id = bond_id;
    -
    426
    -
    427 request->connection.type.code = code;
    -
    428
    -
    429 request->connection.source = source.parameters.toMsg();
    -
    430 request->connection.source.capability = source.interface;
    -
    431 request->connection.source.provider = source.provider;
    -
    432 request->connection.source.instance_id = std::to_string(source.instance_id);
    -
    433
    -
    434 request->connection.target = target.parameters.toMsg();
    -
    435 request->connection.target.capability = target.interface;
    -
    436 request->connection.target.provider = target.provider;
    -
    437 request->connection.target.instance_id = std::to_string(target.instance_id);
    -
    438
    -
    439 bool completed = false;
    -
    440 std::mutex mtx;
    -
    441 std::condition_variable cv;
    -
    442 std::unique_lock<std::mutex> lock(mtx);
    -
    443
    -
    444 // send the request
    -
    445 auto result_future =
    -
    446 connect_capability_client_->async_send_request(request, [this, &completed, &cv](ConnectCapabilityClient::SharedFuture future) {
    -
    447 if (!future.valid())
    -
    448 {
    -
    449 throw fabric::fabric_exception("Failed to configure capability connection event");
    -
    450 }
    -
    451
    -
    452 auto response = future.get();
    -
    453
    -
    454 RCLCPP_INFO(node_->get_logger(), "[Capability client] capability connection event configured successfully.\n");
    -
    455 completed = true;
    -
    456 cv.notify_all();
    -
    457 });
    -
    458
    -
    459 // wait for the response
    -
    460 cv.wait(lock, [&completed]() { return completed; });
    -
    461 }
    -
    -
    462
    -
    -
    469 void connect_capabilities(fabric::Plan& plan)
    -
    470 {
    -
    471 for (const auto& [id, connection] : plan.connections)
    -
    472 {
    -
    473 RCLCPP_INFO(node_->get_logger(), "[Capability client] configuring connection for %s/%d", connection.source.interface.c_str(),
    -
    474 connection.source.instance_id);
    -
    475
    -
    476 if (connection.on_start.exists())
    -
    477 {
    -
    478 RCLCPP_INFO(node_->get_logger(), "[Capability client] connection to %s/%d on_start configuration requested",
    -
    479 connection.on_start.interface.c_str(), connection.on_start.instance_id);
    -
    480 connect_capability(plan.bond_id, CapabilityEventCode::STARTED, connection.source, connection.on_start);
    -
    481 }
    -
    482
    -
    483 if (connection.on_stop.exists())
    -
    484 {
    -
    485 RCLCPP_INFO(node_->get_logger(), "[Capability client] connection to %s/%d on_stop configuration requested",
    -
    486 connection.on_stop.interface.c_str(), connection.on_stop.instance_id);
    -
    487 connect_capability(plan.bond_id, CapabilityEventCode::STOPPED, connection.source, connection.on_stop);
    -
    488 }
    -
    489
    -
    490 if (connection.on_success.exists())
    -
    491 {
    -
    492 RCLCPP_INFO(node_->get_logger(), "[Capability client] connection to %s/%d on_success configuration requested",
    -
    493 connection.on_success.interface.c_str(), connection.on_success.instance_id);
    -
    494 connect_capability(plan.bond_id, CapabilityEventCode::SUCCEEDED, connection.source, connection.on_success);
    -
    495 }
    -
    496
    -
    497 if (connection.on_failure.exists())
    -
    498 {
    -
    499 RCLCPP_INFO(node_->get_logger(), "[Capability client] connection to %s/%d on_failure configuration requested",
    -
    500 connection.on_failure.interface.c_str(), connection.on_failure.instance_id);
    -
    501 connect_capability(plan.bond_id, CapabilityEventCode::FAILED, connection.source, connection.on_failure);
    -
    502 }
    -
    503 }
    -
    504 }
    -
    -
    505
    -
    -
    512 void trigger_first_node(fabric::Plan& plan)
    -
    513 {
    -
    514 auto request_trigger = std::make_shared<TriggerCapability::Request>();
    -
    515
    -
    516 bool completed = false;
    -
    517 std::mutex mtx;
    -
    518 std::condition_variable cv;
    -
    519 std::unique_lock<std::mutex> lock(mtx);
    -
    520
    -
    521 request_trigger->bond_id = plan.bond_id;
    -
    522 request_trigger->capability.instance_id = std::to_string(plan.connections[0].source.instance_id);
    -
    523 request_trigger->capability.capability = plan.connections[0].source.interface;
    -
    524 request_trigger->capability.parameters = plan.connections[0].source.parameters.toMsg().parameters;
    -
    525
    -
    526 // send the request
    -
    527 auto result_future =
    -
    528 trig_capability_client_->async_send_request(request_trigger, [this, &completed, &cv](TriggerCapabilityClient::SharedFuture future) {
    -
    529 if (!future.valid())
    -
    530 {
    -
    531 throw fabric::fabric_exception("Failed to trigger the first capability.");
    -
    532 }
    -
    533
    -
    534 auto response = future.get();
    -
    535 completed = true;
    -
    536 cv.notify_all();
    -
    537 RCLCPP_INFO(node_->get_logger(), "[Capability client] first capability triggered successfully.");
    -
    538 });
    -
    539
    -
    540 // wait for the response
    -
    541 cv.wait(lock, [&completed]() { return completed; });
    -
    542 }
    -
    -
    543
    -
    544protected:
    -
    548 template <typename ClientT>
    -
    -
    549 void wait_for_service(const std::shared_ptr<ClientT>& client, const std::string& service_name)
    -
    550 {
    -
    551 using namespace std::chrono_literals;
    -
    552
    -
    553 auto start = std::chrono::steady_clock::now();
    -
    554 while (rclcpp::ok())
    -
    555 {
    -
    556 if (client->wait_for_service(1s))
    -
    557 {
    -
    558 RCLCPP_INFO(node_->get_logger(), "[Capability client] %s connected", service_name.c_str());
    -
    559 return;
    -
    560 }
    -
    561
    -
    562 RCLCPP_INFO(node_->get_logger(), "[Capability client] %s is not available", service_name.c_str());
    -
    563
    -
    564 if (service_wait_timeout_sec_ >= 0)
    -
    565 {
    -
    566 const auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(std::chrono::steady_clock::now() - start);
    -
    567 if (elapsed.count() >= service_wait_timeout_sec_)
    -
    568 {
    -
    569 throw fabric::fabric_exception("Timed out waiting for service: " + service_name);
    -
    570 }
    -
    571 }
    -
    572 }
    -
    573
    -
    574 throw fabric::fabric_exception("ROS shutdown while waiting for service: " + service_name);
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    575 }
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    576
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    580 rclcpp::Node::SharedPtr node_;
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    581
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    587 std::string get_interfaces_;
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    588 std::string get_semantic_interfaces_;
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    589 std::string get_providers_;
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    591 std::string use_capability_;
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    592 std::string free_capability_;
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    593 std::string trigger_capability_;
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    594 std::string configure_capability_;
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    595 std::string connect_capability_;
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    624
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    626 TriggerCapabilityClient::SharedPtr trig_capability_client_;
    -
    627};
    -
    -
    628} // namespace fabric
    -
    fabric::CapabilityClient
    Class for capability client interactions.
    Definition capability_client.hpp:33
    -
    fabric::CapabilityClient::get_semantic_interfaces_
    std::string get_semantic_interfaces_
    Definition capability_client.hpp:588
    -
    fabric::CapabilityClient::free_capabilities
    void free_capabilities(fabric::Plan &plan)
    Request free of all started capabilities from capabilities2 server.
    Definition capability_client.hpp:358
    -
    fabric::CapabilityClient::GetProvidersClient
    rclcpp::Client< GetProviders > GetProvidersClient
    Definition capability_client.hpp:48
    -
    fabric::CapabilityClient::GetInterfacesClient
    rclcpp::Client< GetInterfaces > GetInterfacesClient
    Definition capability_client.hpp:46
    -
    fabric::CapabilityClient::configure_capability_
    std::string configure_capability_
    Definition capability_client.hpp:594
    -
    fabric::CapabilityClient::connect_capabilities
    void connect_capabilities(fabric::Plan &plan)
    Request connection between capabilities from according to the provided plan.
    Definition capability_client.hpp:469
    -
    fabric::CapabilityClient::free_capability_
    std::string free_capability_
    Definition capability_client.hpp:592
    -
    fabric::CapabilityClient::trigger_first_node
    void trigger_first_node(fabric::Plan &plan)
    Trigger the first node.
    Definition capability_client.hpp:512
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    fabric::CapabilityClient::use_capability_
    std::string use_capability_
    Definition capability_client.hpp:591
    -
    fabric::CapabilityClient::get_providers_client_
    GetProvidersClient::SharedPtr get_providers_client_
    Definition capability_client.hpp:611
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    fabric::CapabilityClient::GetSemanticInterfacesClient
    rclcpp::Client< GetSemanticInterfaces > GetSemanticInterfacesClient
    Definition capability_client.hpp:47
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    fabric::CapabilityClient::GetSemanticInterfaces
    capabilities2_msgs::srv::GetSemanticInterfaces GetSemanticInterfaces
    Definition capability_client.hpp:36
    -
    fabric::CapabilityClient::getInterfaces
    void getInterfaces(std::vector< CapabilityInfo > &capabilities)
    Get the Interfaces from the capabilities2 server via related service client.
    Definition capability_client.hpp:121
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    fabric::CapabilityClient::request_bond
    std::string request_bond()
    Request the bond from the capabilities2 server.
    Definition capability_client.hpp:270
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    fabric::CapabilityClient::connect_capability_
    std::string connect_capability_
    Definition capability_client.hpp:595
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    fabric::CapabilityClient::EstablishBondClient
    rclcpp::Client< EstablishBond > EstablishBondClient
    Definition capability_client.hpp:49
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    fabric::CapabilityClient::started_capabilities_
    std::vector< std::string > started_capabilities_
    Definition capability_client.hpp:602
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    fabric::CapabilityClient::ConnectCapabilityClient
    rclcpp::Client< ConnectCapability > ConnectCapabilityClient
    Definition capability_client.hpp:52
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    fabric::CapabilityClient::GetInterfaces
    capabilities2_msgs::srv::GetInterfaces GetInterfaces
    Definition capability_client.hpp:35
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    fabric::CapabilityClient::bond_
    std::shared_ptr< bond::Bond > bond_
    Heart beat bond with capabilities server.
    Definition capability_client.hpp:600
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    fabric::CapabilityClient::FreeCapability
    capabilities2_msgs::srv::FreeCapability FreeCapability
    Definition capability_client.hpp:40
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    fabric::CapabilityClient::TriggerCapabilityClient
    rclcpp::Client< TriggerCapability > TriggerCapabilityClient
    Definition capability_client.hpp:53
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    fabric::CapabilityClient::trig_capability_client_
    TriggerCapabilityClient::SharedPtr trig_capability_client_
    Definition capability_client.hpp:626
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    fabric::CapabilityClient::initialize
    virtual void initialize(const rclcpp::Node::SharedPtr &node)
    Initialize the capability client with the given ROS2 node.
    Definition capability_client.hpp:66
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    fabric::CapabilityClient::get_interfaces_client_
    GetInterfacesClient::SharedPtr get_interfaces_client_
    Definition capability_client.hpp:605
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    fabric::CapabilityClient::use_capabilities
    void use_capabilities(fabric::Plan &plan)
    Request use of capability from capabilities2 server.
    Definition capability_client.hpp:312
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    fabric::CapabilityClient::get_sem_interf_client_
    GetSemanticInterfacesClient::SharedPtr get_sem_interf_client_
    Definition capability_client.hpp:608
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    fabric::CapabilityClient::EstablishBond
    capabilities2_msgs::srv::EstablishBond EstablishBond
    Definition capability_client.hpp:38
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    fabric::CapabilityClient::getSemanticInterfaces
    void getSemanticInterfaces(std::vector< CapabilityInfo > &capabilities)
    Get the Semantic Interfaces from the capabilities2 server via related service client.
    Definition capability_client.hpp:168
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    fabric::CapabilityClient::getProviders
    void getProviders(std::vector< CapabilityInfo > &capabilities)
    Get the Provider information for the related interfaces. T.
    Definition capability_client.hpp:226
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    fabric::CapabilityClient::connect_capability_client_
    ConnectCapabilityClient::SharedPtr connect_capability_client_
    Definition capability_client.hpp:623
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    fabric::CapabilityClient::FreeCapabilityClient
    rclcpp::Client< FreeCapability > FreeCapabilityClient
    Definition capability_client.hpp:51
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    fabric::CapabilityClient::establish_bond_
    std::string establish_bond_
    Definition capability_client.hpp:590
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    fabric::CapabilityClient::wait_for_service
    void wait_for_service(const std::shared_ptr< ClientT > &client, const std::string &service_name)
    Wait for a service to become available.
    Definition capability_client.hpp:549
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    fabric::CapabilityClient::GetProviders
    capabilities2_msgs::srv::GetProviders GetProviders
    Definition capability_client.hpp:37
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    fabric::CapabilityClient::connect_capability
    void connect_capability(const std::string &bond_id, uint8_t code, const fabric::node &source, const fabric::node &target)
    Definition capability_client.hpp:421
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    fabric::CapabilityClient::~CapabilityClient
    virtual ~CapabilityClient()=default
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    fabric::CapabilityClient::use_capability_client_
    UseCapabilityClient::SharedPtr use_capability_client_
    Definition capability_client.hpp:617
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    fabric::CapabilityClient::get_interfaces_
    std::string get_interfaces_
    service names
    Definition capability_client.hpp:587
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    fabric::CapabilityClient::free_capability_client_
    FreeCapabilityClient::SharedPtr free_capability_client_
    Definition capability_client.hpp:620
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    fabric::CapabilityClient::UseCapabilityClient
    rclcpp::Client< UseCapability > UseCapabilityClient
    Definition capability_client.hpp:50
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    fabric::CapabilityClient::CapabilityEventCode
    capabilities2_msgs::msg::CapabilityEventCode CapabilityEventCode
    Definition capability_client.hpp:44
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    fabric::CapabilityClient::get_providers_
    std::string get_providers_
    Definition capability_client.hpp:589
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    fabric::CapabilityClient::ConnectCapability
    capabilities2_msgs::srv::ConnectCapability ConnectCapability
    Definition capability_client.hpp:41
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    fabric::CapabilityClient::service_wait_timeout_sec_
    int service_wait_timeout_sec_
    Definition capability_client.hpp:582
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    fabric::CapabilityClient::TriggerCapability
    capabilities2_msgs::srv::TriggerCapability TriggerCapability
    Definition capability_client.hpp:42
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    fabric::CapabilityClient::CapabilityClient
    CapabilityClient()
    Definition capability_client.hpp:55
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    fabric::CapabilityClient::establish_bond_client_
    EstablishBondClient::SharedPtr establish_bond_client_
    Definition capability_client.hpp:614
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    fabric::CapabilityClient::trigger_capability_
    std::string trigger_capability_
    Definition capability_client.hpp:593
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    fabric::CapabilityClient::node_
    rclcpp::Node::SharedPtr node_
    pointer to the ROS2 node
    Definition capability_client.hpp:580
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    fabric::CapabilityClient::UseCapability
    capabilities2_msgs::srv::UseCapability UseCapability
    Definition capability_client.hpp:39
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    fabric
    Definition parser_base.hpp:9
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    fabric::CapabilityInfo
    Definition structs.hpp:80
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    fabric::CapabilityInfo::interface
    std::string interface
    Definition structs.hpp:81
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    fabric::CapabilityInfo::is_semantic
    bool is_semantic
    Definition structs.hpp:83
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    fabric::Plan
    Definition structs.hpp:70
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    fabric::Plan::connections
    std::map< int, connection > connections
    Definition structs.hpp:74
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    fabric::Plan::bond_id
    std::string bond_id
    Definition structs.hpp:73
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    fabric::connection
    Structure representing connections between nodes.
    Definition structs.hpp:42
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    fabric::connection::on_success
    node on_success
    Definition structs.hpp:46
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    node on_start
    Definition structs.hpp:44
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    fabric::connection::source
    node source
    Definition structs.hpp:43
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    node on_failure
    Definition structs.hpp:47
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    node on_stop
    Definition structs.hpp:45
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    fabric::fabric_exception
    Base class for driver exceptions.
    Definition exception.hpp:14
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    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
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    std::string provider
    Definition structs.hpp:28
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    std::string interface
    Definition structs.hpp:27
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    bool exists() const
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    capabilities2_events::EventParameters parameters
    Definition structs.hpp:29
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    int instance_id
    Definition structs.hpp:30
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    This is the complete list of members for BondClient, including all inherited members.

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    bond_BondClientprivate
    bond_id_BondClientprivate
    BondClient(rclcpp::Node::SharedPtr node, const std::string &bond_id)BondClientinline
    node_BondClientprivate
    on_broken()BondClientinlineprivate
    on_formed()BondClientinlineprivate
    start()BondClientinline
    stop()BondClientinline
    topic_BondClientprivate
    ~BondClient()BondClientinline
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    #include <bond_client.hpp>

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    -Public Member Functions

     BondClient (rclcpp::Node::SharedPtr node, const std::string &bond_id)
     Construct a new Bond Client object.
     
    void start ()
     start the bond
     
    void stop ()
     stop the bond
     
     ~BondClient ()
     
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    -Private Member Functions

    void on_formed ()
     callback function for bond formed event
     
    void on_broken ()
     callback function for bond broken event
     
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    -Private Attributes

    rclcpp::Node::SharedPtr node_
     
    std::string bond_id_
     
    std::string topic_
     
    std::shared_ptr< bond::Bond > bond_
     
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    ◆ BondClient()

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    ◆ bond_

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    CapabilityClient (fabric)
    CapabilityInfo (fabric)
    CompatibilityValidation (fabric)
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    CapabilityClient()fabric::CapabilityClientinline
    CapabilityEventCode typedeffabric::CapabilityClient
    configure_capability_fabric::CapabilityClientprotected
    connect_capabilities(fabric::Plan &plan)fabric::CapabilityClientinline
    connect_capability(const std::string &bond_id, uint8_t code, const fabric::node &source, const fabric::node &target)fabric::CapabilityClientinline
    connect_capability_fabric::CapabilityClientprotected
    connect_capability_client_fabric::CapabilityClientprotected
    ConnectCapability typedeffabric::CapabilityClient
    ConnectCapabilityClient typedeffabric::CapabilityClient
    establish_bond_fabric::CapabilityClientprotected
    establish_bond_client_fabric::CapabilityClientprotected
    EstablishBond typedeffabric::CapabilityClient
    EstablishBondClient typedeffabric::CapabilityClient
    free_capabilities(fabric::Plan &plan)fabric::CapabilityClientinline
    free_capability_fabric::CapabilityClientprotected
    free_capability_client_fabric::CapabilityClientprotected
    FreeCapability typedeffabric::CapabilityClient
    FreeCapabilityClient typedeffabric::CapabilityClient
    get_interfaces_fabric::CapabilityClientprotected
    get_interfaces_client_fabric::CapabilityClientprotected
    get_providers_fabric::CapabilityClientprotected
    get_providers_client_fabric::CapabilityClientprotected
    get_sem_interf_client_fabric::CapabilityClientprotected
    get_semantic_interfaces_fabric::CapabilityClientprotected
    GetInterfaces typedeffabric::CapabilityClient
    getInterfaces(std::vector< CapabilityInfo > &capabilities)fabric::CapabilityClientinline
    GetInterfacesClient typedeffabric::CapabilityClient
    getProviders(std::vector< CapabilityInfo > &capabilities)fabric::CapabilityClientinline
    GetProviders typedeffabric::CapabilityClient
    GetProvidersClient typedeffabric::CapabilityClient
    getSemanticInterfaces(std::vector< CapabilityInfo > &capabilities)fabric::CapabilityClientinline
    GetSemanticInterfaces typedeffabric::CapabilityClient
    GetSemanticInterfacesClient typedeffabric::CapabilityClient
    initialize(const rclcpp::Node::SharedPtr &node)fabric::CapabilityClientinlinevirtual
    node_fabric::CapabilityClientprotected
    request_bond()fabric::CapabilityClientinline
    service_wait_timeout_sec_fabric::CapabilityClientprotected
    started_capabilities_fabric::CapabilityClientprotected
    trig_capability_client_fabric::CapabilityClientprotected
    trigger_capability_fabric::CapabilityClientprotected
    trigger_first_node(fabric::Plan &plan)fabric::CapabilityClientinline
    TriggerCapability typedeffabric::CapabilityClient
    TriggerCapabilityClient typedeffabric::CapabilityClient
    use_capabilities(fabric::Plan &plan)fabric::CapabilityClientinline
    use_capability_fabric::CapabilityClientprotected
    use_capability_client_fabric::CapabilityClientprotected
    UseCapability typedeffabric::CapabilityClient
    UseCapabilityClient typedeffabric::CapabilityClient
    wait_for_service(const std::shared_ptr< ClientT > &client, const std::string &service_name)fabric::CapabilityClientinlineprotected
    ~CapabilityClient()=defaultfabric::CapabilityClientvirtual
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    Class for capability client interactions. - More...

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    #include <capability_client.hpp>

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    using GetInterfaces = capabilities2_msgs::srv::GetInterfaces
     
    using GetSemanticInterfaces = capabilities2_msgs::srv::GetSemanticInterfaces
     
    using GetProviders = capabilities2_msgs::srv::GetProviders
     
    using EstablishBond = capabilities2_msgs::srv::EstablishBond
     
    using UseCapability = capabilities2_msgs::srv::UseCapability
     
    using FreeCapability = capabilities2_msgs::srv::FreeCapability
     
    using ConnectCapability = capabilities2_msgs::srv::ConnectCapability
     
    using TriggerCapability = capabilities2_msgs::srv::TriggerCapability
     
    using CapabilityEventCode = capabilities2_msgs::msg::CapabilityEventCode
     
    using GetInterfacesClient = rclcpp::Client< GetInterfaces >
     
    using GetSemanticInterfacesClient = rclcpp::Client< GetSemanticInterfaces >
     
    using GetProvidersClient = rclcpp::Client< GetProviders >
     
    using EstablishBondClient = rclcpp::Client< EstablishBond >
     
    using UseCapabilityClient = rclcpp::Client< UseCapability >
     
    using FreeCapabilityClient = rclcpp::Client< FreeCapability >
     
    using ConnectCapabilityClient = rclcpp::Client< ConnectCapability >
     
    using TriggerCapabilityClient = rclcpp::Client< TriggerCapability >
     
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    -Public Member Functions

     CapabilityClient ()
     
    virtual ~CapabilityClient ()=default
     
    virtual void initialize (const rclcpp::Node::SharedPtr &node)
     Initialize the capability client with the given ROS2 node.
     
    void getInterfaces (std::vector< CapabilityInfo > &capabilities)
     Get the Interfaces from the capabilities2 server via related service client.
     
    void getSemanticInterfaces (std::vector< CapabilityInfo > &capabilities)
     Get the Semantic Interfaces from the capabilities2 server via related service client.
     
    void getProviders (std::vector< CapabilityInfo > &capabilities)
     Get the Provider information for the related interfaces. T.
     
    std::string request_bond ()
     Request the bond from the capabilities2 server.
     
    void use_capabilities (fabric::Plan &plan)
     Request use of capability from capabilities2 server.
     
    void free_capabilities (fabric::Plan &plan)
     Request free of all started capabilities from capabilities2 server.
     
    void connect_capability (const std::string &bond_id, uint8_t code, const fabric::node &source, const fabric::node &target)
     
    void connect_capabilities (fabric::Plan &plan)
     Request connection between capabilities from according to the provided plan.
     
    void trigger_first_node (fabric::Plan &plan)
     Trigger the first node.
     
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    -Protected Member Functions

    template<typename ClientT >
    void wait_for_service (const std::shared_ptr< ClientT > &client, const std::string &service_name)
     Wait for a service to become available.
     
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    -Protected Attributes

    rclcpp::Node::SharedPtr node_
     pointer to the ROS2 node
     
    int service_wait_timeout_sec_ { -1 }
     
    std::string get_interfaces_
     service names
     
    std::string get_semantic_interfaces_
     
    std::string get_providers_
     
    std::string establish_bond_
     
    std::string use_capability_
     
    std::string free_capability_
     
    std::string trigger_capability_
     
    std::string configure_capability_
     
    std::string connect_capability_
     
    std::shared_ptr< bond::Bond > bond_
     Heart beat bond with capabilities server.
     
    std::vector< std::string > started_capabilities_
     
    GetInterfacesClient::SharedPtr get_interfaces_client_
     
    GetSemanticInterfacesClient::SharedPtr get_sem_interf_client_
     
    GetProvidersClient::SharedPtr get_providers_client_
     
    EstablishBondClient::SharedPtr establish_bond_client_
     
    UseCapabilityClient::SharedPtr use_capability_client_
     
    FreeCapabilityClient::SharedPtr free_capability_client_
     
    ConnectCapabilityClient::SharedPtr connect_capability_client_
     
    TriggerCapabilityClient::SharedPtr trig_capability_client_
     
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    Detailed Description

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    Class for capability client interactions.

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    Member Typedef Documentation

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    ◆ CapabilityEventCode

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    ◆ ConnectCapability

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    ◆ connect_capabilities()

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    Request connection between capabilities from according to the provided plan.

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    Request free of all started capabilities from capabilities2 server.

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    Get the Interfaces from the capabilities2 server via related service client.

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    Get the Provider information for the related interfaces. T.

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    Get the Semantic Interfaces from the capabilities2 server via related service client.

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    Initialize the capability client with the given ROS2 node.

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    Request the bond from the capabilities2 server.

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    Trigger the first node.

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    Request use of capability from capabilities2 server.

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    Wait for a service to become available.

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    Member Data Documentation

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    ◆ bond_

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    Heart beat bond with capabilities server.

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    This is the complete list of members for fabric::CompatibilityValidation, including all inherited members.

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    CompatibilityValidation()=defaultfabric::CompatibilityValidation
    initialize(const rclcpp::Node::SharedPtr &node) overridefabric::CompatibilityValidationinlinevirtual
    initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)fabric::ValidationBaseinlineprotected
    node_fabric::ValidationBaseprotected
    plugin_name_fabric::ValidationBaseprotected
    validate(fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities) overridefabric::CompatibilityValidationinlinevirtual
    ~CompatibilityValidation()=defaultfabric::CompatibilityValidationvirtual
    ~ValidationBase()=defaultfabric::ValidationBasevirtual
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    fabric::CompatibilityValidation Class Reference
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    Syntax validation plugin for XML plans. - More...

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    #include <compatibility_plugin.hpp>

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    -Public Member Functions

     CompatibilityValidation ()=default
     
    virtual ~CompatibilityValidation ()=default
     
    void initialize (const rclcpp::Node::SharedPtr &node) override
     Initialize the syntax validation plugin.
     
    void validate (fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities) override
     Validate the given XML plan for compatibility.
     
    - Public Member Functions inherited from fabric::ValidationBase
    virtual ~ValidationBase ()=default
     
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    -Additional Inherited Members

    - Protected Member Functions inherited from fabric::ValidationBase
    void initialize_base (const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
     Base initialization method for derived classes.
     
    - Protected Attributes inherited from fabric::ValidationBase
    rclcpp::Node::SharedPtr node_
     Shared pointer to the ROS2 node.
     
    std::string plugin_name_
     Name of the validation plugin.
     
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    Detailed Description

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    Syntax validation plugin for XML plans.

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    This plugin checks the XML plan for basic syntax errors (well-formedness, root tag, etc).

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    ◆ CompatibilityValidation()

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    ◆ ~CompatibilityValidation()

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    ◆ initialize()

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    Initialize the syntax validation plugin.

    - -

    Reimplemented from fabric::ValidationBase.

    - -
    -
    - -

    ◆ validate()

    - -
    -
    - - - - - -
    - - - - - - - - - - - - - - - - - - -
    void fabric::CompatibilityValidation::validate (fabric::Plan & plan,
    std::vector< CapabilityInfo > & capabilities 
    )
    -     		-inlineoverridevirtual
    -
    - -

    Validate the given XML plan for compatibility.

    -
    Parameters
    - - - -
    planThe fabric::Plan to validate.
    capabilitiesSupport data for evaluation as a vector of fabric::CapabilityInfo.
    -
    -
    - -

    Implements fabric::ValidationBase.

    - -
    -
    -
    The documentation for this class was generated from the following file: -
    - -
    -Generated by doxygen 1.9.8 -
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    fabric::Fabric Member List
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    This is the complete list of members for fabric::Fabric, including all inherited members.

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    bond_client_cache_fabric::Fabricprotected
    bond_id_fabric::Fabricprotected
    cancel_server_fabric::Fabricprotected
    CancelFabricPlan typedeffabric::Fabric
    cancelPlanCallback(const std::shared_ptr< CancelFabricPlan::Request > request, std::shared_ptr< CancelFabricPlan::Response > response)fabric::Fabricinlineprotected
    capability_client_fabric::Fabricprotected
    capability_list_fabric::Fabricprotected
    compatibility_validation_plugin_fabric::Fabricprotected
    CompleteFabric typedeffabric::Fabric
    completion_server_fabric::Fabricprotected
    current_plan_fabric::Fabricprotected
    Fabric(const rclcpp::NodeOptions &options=rclcpp::NodeOptions())fabric::Fabricinline
    generate_uuid()fabric::Fabricinlineprotectedstatic
    get_plan_status_server_fabric::Fabricprotected
    GetPlanStatus typedeffabric::Fabric
    getPlanStatusCallback(const std::shared_ptr< GetPlanStatus::Request > request, std::shared_ptr< GetPlanStatus::Response > response)fabric::Fabricinlineprotected
    initialize()fabric::Fabricinline
    parsing_loader_fabric::Fabricprotected
    parsing_plugin_fabric::Fabricprotected
    plan_completed_fabric::Fabricprotected
    plan_cv_fabric::Fabricprotected
    plan_file_path_fabric::Fabricprotected
    plan_mutex_fabric::Fabricprotected
    plan_queue_fabric::Fabricprotected
    plan_server_fabric::Fabricprotected
    process()fabric::Fabricinlineprotected
    process_threadfabric::Fabricprotected
    reset()fabric::Fabricinlineprotected
    setCompleteCallback(const std::shared_ptr< CompleteFabric::Request > request, std::shared_ptr< CompleteFabric::Response > response)fabric::Fabricinlineprotected
    SetFabricPlan typedeffabric::Fabric
    setPlanCallback(const std::shared_ptr< SetFabricPlan::Request > request, std::shared_ptr< SetFabricPlan::Response > response)fabric::Fabricinlineprotected
    status_msg(PlanStatus status) constfabric::Fabricinlineprotected
    validation_loader_fabric::Fabricprotected
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    - - diff --git a/docs/html/classfabric_1_1Fabric.html b/docs/html/classfabric_1_1Fabric.html deleted file mode 100644 index 1037029..0000000 --- a/docs/html/classfabric_1_1Fabric.html +++ /dev/null @@ -1,1032 +0,0 @@ - - - - - - - -Fabric: fabric::Fabric Class Reference - - - - - - - - - -
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    Fabric -
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    -Public Types | -Public Member Functions | -Protected Member Functions | -Static Protected Member Functions | -Protected Attributes | -List of all members
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    fabric::Fabric Class Reference
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    Class representing the main server of the fabric. - More...

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    #include <server.hpp>

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    -Public Types

    using SetFabricPlan = fabric_msgs::srv::SetFabricPlan
     
    using CancelFabricPlan = fabric_msgs::srv::CancelFabricPlan
     
    using CompleteFabric = fabric_msgs::srv::CompleteFabric
     
    using GetPlanStatus = fabric_msgs::srv::GetPlanStatus
     
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     Fabric (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
     Construct a new Fabric object.
     
    void initialize ()
     Initialize the Fabric node, action server and event client.
     
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    void process ()
     The main process thread of the fabric.
     
    void setPlanCallback (const std::shared_ptr< SetFabricPlan::Request > request, std::shared_ptr< SetFabricPlan::Response > response)
     Callback function to set a new fabric plan.
     
    void cancelPlanCallback (const std::shared_ptr< CancelFabricPlan::Request > request, std::shared_ptr< CancelFabricPlan::Response > response)
     Callback function to cancel a fabric plan.
     
    void setCompleteCallback (const std::shared_ptr< CompleteFabric::Request > request, std::shared_ptr< CompleteFabric::Response > response)
     Callback function to set the completion of a fabric plan.
     
    void getPlanStatusCallback (const std::shared_ptr< GetPlanStatus::Request > request, std::shared_ptr< GetPlanStatus::Response > response)
     Callback function to get the status of a fabric plan.
     
    fabric_msgs::msg::FabricStatus status_msg (PlanStatus status) const
     Convert internal plan status to fabric_msgs/PlanStatus message.
     
    void reset ()
     Reset internal data structures for processing a new plan.
     
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    static std::string generate_uuid ()
     Generate a UUID string for plan tracking.
     
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    -Protected Attributes

    std::deque< fabric::Plan > plan_queue_
     
    fabric::Plan current_plan_
     
    bool plan_completed_
     
    std::mutex plan_mutex_
     
    std::condition_variable plan_cv_
     
    std::shared_ptr< CapabilityClient > capability_client_
     
    std::vector< CapabilityInfo > capability_list_
     
    pluginlib::ClassLoader< fabric::ValidationBase > validation_loader_
     
    pluginlib::ClassLoader< fabric::ParserBase > parsing_loader_
     
    std::shared_ptr< fabric::ParserBase > parsing_plugin_
     
    std::shared_ptr< fabric::ValidationBase > compatibility_validation_plugin_
     
    std::string bond_id_
     
    std::map< std::string, std::shared_ptr< BondClient > > bond_client_cache_
     
    std::string plan_file_path_
     
    rclcpp::Service< SetFabricPlan >::SharedPtr plan_server_
     
    rclcpp::Service< CancelFabricPlan >::SharedPtr cancel_server_
     
    rclcpp::Service< CompleteFabric >::SharedPtr completion_server_
     
    rclcpp::Service< GetPlanStatus >::SharedPtr get_plan_status_server_
     
    std::thread process_thread
     
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    Detailed Description

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    Class representing the main server of the fabric.

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    Member Typedef Documentation

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    ◆ CancelFabricPlan

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    using fabric::Fabric::CancelFabricPlan = fabric_msgs::srv::CancelFabricPlan
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    ◆ CompleteFabric

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    using fabric::Fabric::CompleteFabric = fabric_msgs::srv::CompleteFabric
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    ◆ GetPlanStatus

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    ◆ Fabric()

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    Construct a new Fabric object.

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    ◆ cancelPlanCallback()

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    void fabric::Fabric::cancelPlanCallback (const std::shared_ptr< CancelFabricPlan::Request > request,
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    Callback function to cancel a fabric plan.

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    ◆ generate_uuid()

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    Generate a UUID string for plan tracking.

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    ◆ getPlanStatusCallback()

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    Callback function to get the status of a fabric plan.

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    Initialize the Fabric node, action server and event client.

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    The main process thread of the fabric.

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    Reset internal data structures for processing a new plan.

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    ◆ bond_client_cache_

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    fabric::ParserBase Member List
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    This is the complete list of members for fabric::ParserBase, including all inherited members.

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    check_compatibility(const fabric::Plan &plan)=0fabric::ParserBasepure virtual
    initialize(const rclcpp::Node::SharedPtr &node)fabric::ParserBaseinlinevirtual
    initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)fabric::ParserBaseinlineprotected
    load_file(const std::string &file_path, fabric::Plan &plan)=0fabric::ParserBasepure virtual
    node_fabric::ParserBaseprotected
    parse(fabric::Plan &plan)=0fabric::ParserBasepure virtual
    plugin_name_fabric::ParserBaseprotected
    ~ParserBase()=defaultfabric::ParserBasevirtual
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    -Public Member Functions | -Protected Member Functions | -Protected Attributes | -List of all members
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    fabric::ParserBase Class Referenceabstract
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    Abstract base class for XML plan parsing plugins. - More...

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    #include <parser_base.hpp>

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    -Public Member Functions

    virtual ~ParserBase ()=default
     
    virtual void initialize (const rclcpp::Node::SharedPtr &node)
     Initialize the validation plugin with the given ROS2 node.
     
    virtual bool load_file (const std::string &file_path, fabric::Plan &plan)=0
     load a file into an XML document
     
    virtual void parse (fabric::Plan &plan)=0
     Parse the given XML plan.
     
    virtual bool check_compatibility (const fabric::Plan &plan)=0
     Check the compatibility of the given plan with the given parser.
     
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    -Protected Member Functions

    void initialize_base (const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
     Base initialization method for derived classes.
     
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    -Protected Attributes

    rclcpp::Node::SharedPtr node_
     Shared pointer to the ROS2 node.
     
    std::string plugin_name_
     Name of the validation plugin.
     
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    Detailed Description

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    Abstract base class for XML plan parsing plugins.

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    Implementations should provide a parse() method that extracts information from the XML plan and return a fabric::Plan object.

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    Constructor & Destructor Documentation

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    ◆ ~ParserBase()

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    Member Function Documentation

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    ◆ check_compatibility()

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    virtual bool fabric::ParserBase::check_compatibility (const fabric::Plan & plan)
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    Check the compatibility of the given plan with the given parser.

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    Implemented in fabric::XMLParser.

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    ◆ initialize()

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    Initialize the validation plugin with the given ROS2 node.

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    Reimplemented in fabric::XMLParser.

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    ◆ initialize_base()

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    Parse the given XML plan.

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    ◆ node_

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    Name of the validation plugin.

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    This is the complete list of members for fabric::ValidationBase, including all inherited members.

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    initialize(const rclcpp::Node::SharedPtr &node)fabric::ValidationBaseinlinevirtual
    initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)fabric::ValidationBaseinlineprotected
    node_fabric::ValidationBaseprotected
    plugin_name_fabric::ValidationBaseprotected
    validate(fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities)=0fabric::ValidationBasepure virtual
    ~ValidationBase()=defaultfabric::ValidationBasevirtual
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    fabric::ValidationBase Class Referenceabstract
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    Abstract base class for XML plan validation plugins. - More...

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    #include <validation_base.hpp>

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    -Public Member Functions

    virtual ~ValidationBase ()=default
     
    virtual void initialize (const rclcpp::Node::SharedPtr &node)
     Initialize the validation plugin with the given ROS2 node.
     
    virtual void validate (fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities)=0
     Validate the given XML plan.
     
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    void initialize_base (const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
     Base initialization method for derived classes.
     
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    rclcpp::Node::SharedPtr node_
     Shared pointer to the ROS2 node.
     
    std::string plugin_name_
     Name of the validation plugin.
     
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    Detailed Description

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    Abstract base class for XML plan validation plugins.

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    Implementations should provide a validate() method that checks the XML plan for errors.

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    Constructor & Destructor Documentation

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    ◆ ~ValidationBase()

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    ◆ initialize()

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    Initialize the validation plugin with the given ROS2 node.

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    Base initialization method for derived classes.

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    ◆ validate()

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    virtual void fabric::ValidationBase::validate (fabric::Plan & plan,
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    Validate the given XML plan.

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    ◆ node_

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    Name of the validation plugin.

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    fabric::XMLParser Member List
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    This is the complete list of members for fabric::XMLParser, including all inherited members.

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    add_completion_runner(tinyxml2::XMLDocument &document, const std::string &plan_id)fabric::XMLParserinlineprotected
    add_parallel_all(fabric::Plan &plan, int connection_id=0, std::string description="")fabric::XMLParserinlineprotected
    add_parallel_any(fabric::Plan &plan, int connection_id=0, std::string description="")fabric::XMLParserinlineprotected
    check_compatibility(const fabric::Plan &plan) overridefabric::XMLParserinlinevirtual
    check_syntax(tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)fabric::XMLParserinlineprotected
    control_listfabric::XMLParserprotected
    convert_to_string(tinyxml2::XMLDocument &document_xml, std::string &document_string)fabric::XMLParserinlineprotected
    convert_to_string(tinyxml2::XMLElement *element, std::string &parameters)fabric::XMLParserinlineprotected
    convert_xml_to_event_parameters(tinyxml2::XMLElement *element)fabric::XMLParserinlineprotected
    current_document_fabric::XMLParserprotected
    default_documentfabric::XMLParserprotected
    extract_connections(tinyxml2::XMLElement *element, fabric::Plan &plan, int connection_id=0, fabric::event connection_type=fabric::event::ON_SUCCESS, std::string conn_description="")fabric::XMLParserinlineprotected
    extract_plan(tinyxml2::XMLDocument &document)fabric::XMLParserinlineprotected
    initialize(const rclcpp::Node::SharedPtr &node) overridefabric::XMLParserinlinevirtual
    initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)fabric::ParserBaseinlineprotected
    load_file(const std::string &file_path, fabric::Plan &plan) overridefabric::XMLParserinlinevirtual
    node_fabric::ParserBaseprotected
    parse(fabric::Plan &plan) overridefabric::XMLParserinlinevirtual
    plan_fabric::XMLParserprotected
    plugin_name_fabric::ParserBaseprotected
    runner_indexfabric::XMLParserprotected
    search(std::vector< std::string > list, std::string value)fabric::XMLParserinlineprotected
    system_docfabric::XMLParserprotected
    XMLParser()=defaultfabric::XMLParser
    ~ParserBase()=defaultfabric::ParserBasevirtual
    ~XMLParser()=defaultfabric::XMLParservirtual
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    -Public Member Functions | -Protected Member Functions | -Protected Attributes | -List of all members
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    fabric::XMLParser Class Reference
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    Syntax validation plugin for XML plans. - More...

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    #include <xml_parser_plugin.hpp>

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    -Public Member Functions

     XMLParser ()=default
     
    virtual ~XMLParser ()=default
     
    void initialize (const rclcpp::Node::SharedPtr &node) override
     Initialize the XML parser plugin.
     
    bool load_file (const std::string &file_path, fabric::Plan &plan) override
     load a file into an XML document
     
    bool check_compatibility (const fabric::Plan &plan) override
     Check the compatibility of the given plan with the given parser.
     
    void parse (fabric::Plan &plan) override
     Parse the given XML plan.
     
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    virtual ~ParserBase ()=default
     
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    -Protected Member Functions

    void convert_to_string (tinyxml2::XMLDocument &document_xml, std::string &document_string)
     convert XMLDocument to std::string
     
    bool search (std::vector< std::string > list, std::string value)
     search a string in a vector of strings
     
    tinyxml2::XMLElement * extract_plan (tinyxml2::XMLDocument &document)
     Extract the <Plan> element from the XML document.
     
    bool convert_to_string (tinyxml2::XMLElement *element, std::string &parameters)
     convert XMLElement to std::string
     
    bool check_syntax (tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
     check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan
     
    void add_completion_runner (tinyxml2::XMLDocument &document, const std::string &plan_id)
     add a completion runner to the plan This function adds a new <Control> element with type "sequential" and a <Runner> element for the completion runner to the existing <Plan> element in the XML document.
     
    int add_parallel_all (fabric::Plan &plan, int connection_id=0, std::string description="")
     Adds a system connection for parallel input multiplexing with waiting for all inputs.
     
    int add_parallel_any (fabric::Plan &plan, int connection_id=0, std::string description="")
     Adds a system connection for parallel input multiplexing with waiting for any inputs.
     
    capabilities2_events::EventParameters convert_xml_to_event_parameters (tinyxml2::XMLElement *element)
     Check and update the system runner id for the successor based on the predecessor's id.
     
    int extract_connections (tinyxml2::XMLElement *element, fabric::Plan &plan, int connection_id=0, fabric::event connection_type=fabric::event::ON_SUCCESS, std::string conn_description="")
     parse through the plan and extract the connections
     
    - Protected Member Functions inherited from fabric::ParserBase
    void initialize_base (const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
     Base initialization method for derived classes.
     
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    -Protected Attributes

    std::vector< std::string > control_list
     List of valid control tags.
     
    tinyxml2::XMLDocument system_doc
     XML Document for system runners.
     
    int runner_index = 0
     Index for assigning unique IDs to system runners.
     
    tinyxml2::XMLElement * plan_ = nullptr
     Pointer to the plan element in the XML document.
     
    tinyxml2::XMLDocument default_document
     Default XML document for loading from file.
     
    tinyxml2::XMLDocument current_document_
     XML Document to hold the current plan.
     
    - Protected Attributes inherited from fabric::ParserBase
    rclcpp::Node::SharedPtr node_
     Shared pointer to the ROS2 node.
     
    std::string plugin_name_
     Name of the validation plugin.
     
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    Detailed Description

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    Syntax validation plugin for XML plans.

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    This plugin checks the XML plan for basic syntax errors (well-formedness, root tag, etc).

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    Constructor & Destructor Documentation

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    ◆ XMLParser()

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    ◆ ~XMLParser()

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    ◆ add_completion_runner()

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    void fabric::XMLParser::add_completion_runner (tinyxml2::XMLDocument & document,
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    add a completion runner to the plan This function adds a new <Control> element with type "sequential" and a <Runner> element for the completion runner to the existing <Plan> element in the XML document.

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    int fabric::XMLParser::add_parallel_all (fabric::Plan & plan,
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    Adds a system connection for parallel input multiplexing with waiting for all inputs.

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    check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan

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    Check and update the system runner id for the successor based on the predecessor's id.

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    This function checks if the predecessor is a system runner and has parameters. If so, it updates the successor's parameters with the predecessor's id.

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    Pointer to the plan element in the XML document.

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    #include <string>
    -#include <vector>
    -#include <tinyxml2.h>
    -#include <rclcpp/rclcpp.hpp>
    -#include <fabric_base/validation_base.hpp>
    -
    -Include dependency graph for compatibility_plugin.hpp:
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     Syntax validation plugin for XML plans. More...
     
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zSZduFi^a<7=#VEQB*4$F&*;-yLNN>;DFte5R(5s@9v*zRZr#EOkBmH+w9ngv`V_K6 z377MI79Er%^mYxEzVYK-wXLI*69%Btmk0=$xVU1WK?DUfs!i!lF0FF;b^Dev2SFrD z&jVv`vFsA{u0^hK0_Rrsy6fnu~M{lg7rk|mL z2qM2d8r5_E6jec*N=Z$9wWy>-^r47xHe_4&I`i3g{77VFyY2T3;@Nq5Yw8+q7)Ph= z!e#fjBpL7&FKJ8jyk@Ab$lP#UZy|im)85$VvkI>N>K#U&q$f|_TWD@hL8< zz)fpz@?=uRD|o-IJGfz7opy*^$R#2&QuHCUkJrP8>>L~=m`wu%1IS%OWD>%^jty@t zzAdkwOZz`dQK$;Q{{Sz^TMqyL diff --git a/docs/html/compatibility__plugin_8hpp_source.html b/docs/html/compatibility__plugin_8hpp_source.html deleted file mode 100644 index 17f5141..0000000 --- a/docs/html/compatibility__plugin_8hpp_source.html +++ /dev/null @@ -1,173 +0,0 @@ - - - - - - - -Fabric: fabric_validator/include/fabric_validator/compatibility_plugin.hpp Source File - - - - - - - - - -

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    compatibility_plugin.hpp
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    1#pragma once
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    2#include <string>
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    3#include <vector>
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    4#include <tinyxml2.h>
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    5#include <rclcpp/rclcpp.hpp>
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    6#include <fabric_base/validation_base.hpp>
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    7
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    8namespace fabric
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    9{
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    15class CompatibilityValidation : public ValidationBase
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    16{
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    17public:
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    18 CompatibilityValidation() = default;
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    19 virtual ~CompatibilityValidation() = default;
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    20
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    24 void initialize(const rclcpp::Node::SharedPtr& node) override
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    25 {
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    26 initialize_base(node, "CompatibilityValidationPlugin");
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    27 }
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    28
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    35 void validate(fabric::Plan& plan, std::vector<CapabilityInfo>& capabilities) override
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    36 {
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    37 // Iterate through the plan and check whether each connection's interface and provider are matched in
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    38 // the provided CapabilityInfo data. If a provider is not matched, it could be in alternative providers.
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    39
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    40 for (const auto& [id, connection] : plan.connections)
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    41 {
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    42 bool source_matched = false;
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    43
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    44 // Check source node
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    45 for (const auto& cap : capabilities)
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    46 {
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    47 if (connection.source.interface == cap.interface)
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    48 {
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    49 if (connection.source.provider == cap.provider)
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    50 {
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    51 source_matched = true;
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    52 break;
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    53 }
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    54 else
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    55 {
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    56 // Check alternative providers
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    57 if (std::find(cap.alt_providers.begin(), cap.alt_providers.end(), connection.source.provider) != cap.alt_providers.end())
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    58 {
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    59 source_matched = true;
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    60 break;
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    61 }
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    62 }
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    63 }
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    64 }
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    65
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    66 if (!source_matched)
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    67 {
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    68 throw fabric::fabric_exception("Unmatched interface: " + connection.source.interface + " provider: " + connection.source.provider +
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    69 " combination");
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    70 }
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    71 }
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    72 }
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    73};
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    74} // namespace fabric
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    fabric::CompatibilityValidation
    Syntax validation plugin for XML plans.
    Definition compatibility_plugin.hpp:16
    -
    fabric::CompatibilityValidation::validate
    void validate(fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities) override
    Validate the given XML plan for compatibility.
    Definition compatibility_plugin.hpp:35
    -
    fabric::CompatibilityValidation::~CompatibilityValidation
    virtual ~CompatibilityValidation()=default
    - -
    fabric::CompatibilityValidation::initialize
    void initialize(const rclcpp::Node::SharedPtr &node) override
    Initialize the syntax validation plugin.
    Definition compatibility_plugin.hpp:24
    -
    fabric::ValidationBase
    Abstract base class for XML plan validation plugins.
    Definition validation_base.hpp:19
    -
    fabric::ValidationBase::initialize_base
    void initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
    Base initialization method for derived classes.
    Definition validation_base.hpp:48
    -
    fabric
    Definition parser_base.hpp:9
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    fabric::Plan
    Definition structs.hpp:70
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    fabric::Plan::connections
    std::map< int, connection > connections
    Definition structs.hpp:74
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    fabric::connection
    Structure representing connections between nodes.
    Definition structs.hpp:42
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    fabric::connection::source
    node source
    Definition structs.hpp:43
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    fabric::fabric_exception
    Base class for driver exceptions.
    Definition exception.hpp:14
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    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
    -
    fabric::node::provider
    std::string provider
    Definition structs.hpp:28
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    fabric::node::interface
    std::string interface
    Definition structs.hpp:27
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    parser_base.hppstructs.hpp
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    validation_base.hppexception.hpp
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    server.hppinclude / fabric_base / parser_base.hpp
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    fabric_server / capability_client.hppinclude / fabric_base / utils / xml_helper.hpp
    fabric_server / server.hppinclude / fabric_base / parser_base.hpp
    fabric_server / server.hppinclude / fabric_base / utils / structs.hpp
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    fabric_server / server.hppinclude / fabric_base / utils / xml_helper.hpp
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    fabric_server Directory Reference
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    fabric_server/include/fabric_server
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     xml_parser_plugin.hpp
     
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- font-size: 150%; - font-weight: normal; - margin-top: 1.75em; - padding-top: 8px; - padding-bottom: 4px; - width: 100%; -} - -h3.groupheader { - font-size: 100%; -} - -h1, h2, h3, h4, h5, h6 { - -webkit-transition: text-shadow 0.5s linear; - -moz-transition: text-shadow 0.5s linear; - -ms-transition: text-shadow 0.5s linear; - -o-transition: text-shadow 0.5s linear; - transition: text-shadow 0.5s linear; - margin-right: 15px; -} - -h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow { - text-shadow: 0 0 15px var(--glow-color); -} - -dt { - font-weight: bold; -} - -p.startli, p.startdd { - margin-top: 2px; -} - -th p.starttd, th p.intertd, th p.endtd { - font-size: 100%; - font-weight: 700; -} - -p.starttd { - margin-top: 0px; -} - -p.endli { - margin-bottom: 0px; -} - -p.enddd { - margin-bottom: 4px; -} - -p.endtd { - margin-bottom: 2px; -} - -p.interli { -} - -p.interdd { -} - -p.intertd { -} - -/* @end */ - -caption { - font-weight: bold; -} - -span.legend { - font-size: 70%; - text-align: center; -} - -h3.version { - font-size: 90%; - text-align: center; -} - -div.navtab { - padding-right: 15px; - text-align: right; - line-height: 110%; -} - -div.navtab table { - border-spacing: 0; -} - -td.navtab { - padding-right: 6px; - padding-left: 6px; -} - -td.navtabHL { - background-image: var(--nav-gradient-active-image); - background-repeat:repeat-x; - padding-right: 6px; - padding-left: 6px; -} - -td.navtabHL a, td.navtabHL a:visited { - color: var(--nav-text-hover-color); - text-shadow: var(--nav-text-hover-shadow); -} - -a.navtab { - font-weight: bold; -} - -div.qindex{ - text-align: center; - width: 100%; - line-height: 140%; - font-size: 130%; - color: var(--index-separator-color); -} - -#main-menu a:focus { - outline: auto; - z-index: 10; - position: relative; -} - -dt.alphachar{ - font-size: 180%; - font-weight: bold; -} - -.alphachar a{ - color: var(--index-header-color); -} - -.alphachar a:hover, .alphachar a:visited{ - text-decoration: none; -} - -.classindex dl { - padding: 25px; - column-count:1 -} - -.classindex dd { - display:inline-block; - margin-left: 50px; - width: 90%; - line-height: 1.15em; -} - -.classindex dl.even { - background-color: var(--index-even-item-bg-color); -} - -.classindex dl.odd { - background-color: var(--index-odd-item-bg-color); -} - -@media(min-width: 1120px) { - .classindex dl { - column-count:2 - } -} - -@media(min-width: 1320px) { - .classindex dl { - column-count:3 - } -} - - -/* @group Link Styling */ - -a { - color: var(--page-link-color); - font-weight: normal; - text-decoration: none; -} - -.contents a:visited { - color: var(--page-visited-link-color); -} - -a:hover { - text-decoration: underline; -} - -a.el { - font-weight: bold; -} - -a.elRef { -} - -a.code, a.code:visited, a.line, a.line:visited { - color: var(--code-link-color); -} - -a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited { - color: var(--code-external-link-color); -} - -a.code.hl_class { /* style for links to class names in code snippets */ } -a.code.hl_struct { /* style for links to struct names in code snippets */ } -a.code.hl_union { /* style for links to union names in code snippets */ } -a.code.hl_interface { /* style for links to interface names in code snippets */ } -a.code.hl_protocol { /* style for links to protocol names in code snippets */ } -a.code.hl_category { /* style for links to category names in code snippets */ } -a.code.hl_exception { /* style for links to exception names in code snippets */ } -a.code.hl_service { /* style for links to service names in code snippets */ } -a.code.hl_singleton { /* style for links to singleton names in code snippets */ } -a.code.hl_concept { /* style for links to concept names in code snippets */ } -a.code.hl_namespace { /* style for links to namespace names in code snippets */ } -a.code.hl_package { /* style for links to package names in code snippets */ } -a.code.hl_define { /* style for links to macro names in code snippets */ } -a.code.hl_function { /* style for links to function names in code snippets */ } -a.code.hl_variable { /* style for links to variable names in code snippets */ } -a.code.hl_typedef { /* style for links to typedef names in code snippets */ } -a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ } -a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ } -a.code.hl_signal { /* style for links to Qt signal names in code snippets */ } -a.code.hl_slot { /* style for links to Qt slot names in code snippets */ } -a.code.hl_friend { /* style for links to friend names in code snippets */ } -a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ } -a.code.hl_property { /* style for links to property names in code snippets */ } -a.code.hl_event { /* style for links to event names in code snippets */ } -a.code.hl_sequence { /* style for links to sequence names in code snippets */ } -a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ } - -/* @end */ - -dl.el { - margin-left: -1cm; -} - -ul { - overflow: visible; -} - -ul.multicol { - -moz-column-gap: 1em; - -webkit-column-gap: 1em; - column-gap: 1em; - -moz-column-count: 3; - -webkit-column-count: 3; - column-count: 3; - list-style-type: none; -} - -#side-nav ul { - overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */ -} - -#main-nav ul { - overflow: visible; /* reset ul rule for the navigation bar drop down lists */ -} - -.fragment { - text-align: left; - direction: ltr; - overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/ - overflow-y: hidden; -} - -pre.fragment { - border: 1px solid var(--fragment-border-color); - background-color: var(--fragment-background-color); - color: var(--fragment-foreground-color); - padding: 4px 6px; - margin: 4px 8px 4px 2px; - overflow: auto; - word-wrap: break-word; - font-size: 9pt; - line-height: 125%; - font-family: var(--font-family-monospace); - font-size: 105%; -} - -div.fragment { - padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/ - margin: 4px 8px 4px 2px; - color: var(--fragment-foreground-color); - background-color: var(--fragment-background-color); - border: 1px solid var(--fragment-border-color); -} - -div.line { - font-family: var(--font-family-monospace); - font-size: 13px; - min-height: 13px; - line-height: 1.2; - text-wrap: unrestricted; - white-space: -moz-pre-wrap; /* Moz */ - white-space: -pre-wrap; /* Opera 4-6 */ - white-space: -o-pre-wrap; /* Opera 7 */ - white-space: pre-wrap; /* CSS3 */ - word-wrap: break-word; /* IE 5.5+ */ - text-indent: -53px; - padding-left: 53px; - padding-bottom: 0px; - margin: 0px; - -webkit-transition-property: background-color, box-shadow; - -webkit-transition-duration: 0.5s; - -moz-transition-property: background-color, box-shadow; - -moz-transition-duration: 0.5s; - -ms-transition-property: background-color, box-shadow; - -ms-transition-duration: 0.5s; - -o-transition-property: background-color, box-shadow; - -o-transition-duration: 0.5s; - transition-property: background-color, box-shadow; - transition-duration: 0.5s; -} - -div.line:after { - content:"\000A"; - white-space: pre; -} - -div.line.glow { - background-color: var(--glow-color); - box-shadow: 0 0 10px var(--glow-color); -} - -span.fold { - margin-left: 5px; - margin-right: 1px; - margin-top: 0px; - margin-bottom: 0px; - padding: 0px; - display: inline-block; - width: 12px; - height: 12px; - background-repeat:no-repeat; - background-position:center; -} - -span.lineno { - padding-right: 4px; - margin-right: 9px; - text-align: right; - border-right: 2px solid var(--fragment-lineno-border-color); - color: var(--fragment-lineno-foreground-color); - background-color: var(--fragment-lineno-background-color); - white-space: pre; -} -span.lineno a, span.lineno a:visited { - color: var(--fragment-lineno-link-fg-color); - background-color: var(--fragment-lineno-link-bg-color); -} - -span.lineno a:hover { - color: var(--fragment-lineno-link-hover-fg-color); - background-color: var(--fragment-lineno-link-hover-bg-color); -} - -.lineno { - -webkit-touch-callout: none; - -webkit-user-select: none; - -khtml-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; -} - -div.classindex ul { - list-style: none; - padding-left: 0; -} - -div.classindex span.ai { - display: inline-block; -} - -div.groupHeader { - margin-left: 16px; - margin-top: 12px; - font-weight: bold; -} - -div.groupText { - margin-left: 16px; - font-style: italic; -} - -body { - color: var(--page-foreground-color); - margin: 0; -} - -div.contents { - margin-top: 10px; - margin-left: 12px; - margin-right: 8px; -} - -p.formulaDsp { - text-align: center; -} - -img.dark-mode-visible { - display: none; -} -img.light-mode-visible { - display: none; -} - -img.formulaDsp { - -} - -img.formulaInl, img.inline { - vertical-align: middle; -} - -div.center { - text-align: center; - margin-top: 0px; - margin-bottom: 0px; - padding: 0px; -} - -div.center img { - border: 0px; -} - -address.footer { - text-align: right; - padding-right: 12px; -} - -img.footer { - border: 0px; - vertical-align: middle; - width: var(--footer-logo-width); -} - -.compoundTemplParams { - color: var(--memdecl-template-color); - font-size: 80%; - line-height: 120%; -} - -/* @group Code Colorization */ - -span.keyword { - color: var(--code-keyword-color); -} - -span.keywordtype { - color: var(--code-type-keyword-color); -} - -span.keywordflow { - color: var(--code-flow-keyword-color); -} - -span.comment { - color: var(--code-comment-color); -} - -span.preprocessor { - color: var(--code-preprocessor-color); -} - -span.stringliteral { - color: var(--code-string-literal-color); -} - -span.charliteral { - color: var(--code-char-literal-color); -} - -span.xmlcdata { - color: var(--code-xml-cdata-color); -} - -span.vhdldigit { - color: var(--code-vhdl-digit-color); -} - -span.vhdlchar { - color: var(--code-vhdl-char-color); -} - -span.vhdlkeyword { - color: var(--code-vhdl-keyword-color); -} - -span.vhdllogic { - color: var(--code-vhdl-logic-color); -} - -blockquote { - background-color: var(--blockquote-background-color); - border-left: 2px solid var(--blockquote-border-color); - margin: 0 24px 0 4px; - padding: 0 12px 0 16px; -} - -/* @end */ - -td.tiny { - font-size: 75%; -} - -.dirtab { - padding: 4px; - border-collapse: collapse; - border: 1px solid var(--table-cell-border-color); -} - -th.dirtab { - background-color: var(--table-header-background-color); - color: var(--table-header-foreground-color); - font-weight: bold; -} - -hr { - height: 0px; - border: none; - border-top: 1px solid var(--separator-color); -} - -hr.footer { - height: 1px; -} - -/* @group Member Descriptions */ - -table.memberdecls { - border-spacing: 0px; - padding: 0px; -} - -.memberdecls td, .fieldtable tr { - -webkit-transition-property: background-color, box-shadow; - -webkit-transition-duration: 0.5s; - -moz-transition-property: background-color, box-shadow; - -moz-transition-duration: 0.5s; - -ms-transition-property: background-color, box-shadow; - -ms-transition-duration: 0.5s; - -o-transition-property: background-color, box-shadow; - -o-transition-duration: 0.5s; - transition-property: background-color, box-shadow; - transition-duration: 0.5s; -} - -.memberdecls td.glow, .fieldtable tr.glow { - background-color: var(--glow-color); - box-shadow: 0 0 15px var(--glow-color); -} - -.mdescLeft, .mdescRight, -.memItemLeft, .memItemRight, -.memTemplItemLeft, .memTemplItemRight, .memTemplParams { - background-color: var(--memdecl-background-color); - border: none; - margin: 4px; - padding: 1px 0 0 8px; -} - -.mdescLeft, .mdescRight { - padding: 0px 8px 4px 8px; - color: var(--memdecl-foreground-color); -} - -.memSeparator { - border-bottom: 1px solid var(--memdecl-separator-color); - line-height: 1px; - margin: 0px; - padding: 0px; -} - -.memItemLeft, .memTemplItemLeft { - white-space: nowrap; -} - -.memItemRight, .memTemplItemRight { - width: 100%; -} - -.memTemplParams { - color: var(--memdecl-template-color); - white-space: nowrap; - font-size: 80%; -} - -/* @end */ - -/* @group Member Details */ - -/* Styles for detailed member documentation */ - -.memtitle { - padding: 8px; - border-top: 1px solid var(--memdef-border-color); - border-left: 1px solid var(--memdef-border-color); - border-right: 1px solid var(--memdef-border-color); - border-top-right-radius: 4px; - border-top-left-radius: 4px; - margin-bottom: -1px; - background-image: var(--memdef-title-gradient-image); - background-repeat: repeat-x; - background-color: var(--memdef-title-background-color); - line-height: 1.25; - font-weight: 300; - float:left; -} - -.permalink -{ - font-size: 65%; - display: inline-block; - vertical-align: middle; -} - -.memtemplate { - font-size: 80%; - color: var(--memdef-template-color); - font-weight: normal; - margin-left: 9px; -} - -.mempage { - width: 100%; -} - -.memitem { - padding: 0; - margin-bottom: 10px; - margin-right: 5px; - -webkit-transition: box-shadow 0.5s linear; - -moz-transition: box-shadow 0.5s linear; - -ms-transition: box-shadow 0.5s linear; - -o-transition: box-shadow 0.5s linear; - transition: box-shadow 0.5s linear; - display: table !important; - width: 100%; -} - -.memitem.glow { - box-shadow: 0 0 15px var(--glow-color); -} - -.memname { - font-weight: 400; - margin-left: 6px; -} - -.memname td { - vertical-align: bottom; -} - -.memproto, dl.reflist dt { - border-top: 1px solid var(--memdef-border-color); - border-left: 1px solid var(--memdef-border-color); - border-right: 1px solid var(--memdef-border-color); - padding: 6px 0px 6px 0px; - color: var(--memdef-proto-text-color); - font-weight: bold; - text-shadow: var(--memdef-proto-text-shadow); - background-color: var(--memdef-proto-background-color); - box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); - border-top-right-radius: 4px; -} - -.overload { - font-family: var(--font-family-monospace); - font-size: 65%; -} - -.memdoc, dl.reflist dd { - border-bottom: 1px solid var(--memdef-border-color); - border-left: 1px solid var(--memdef-border-color); - border-right: 1px solid var(--memdef-border-color); - padding: 6px 10px 2px 10px; - border-top-width: 0; - background-image:url('nav_g.png'); - background-repeat:repeat-x; - background-color: var(--memdef-doc-background-color); - /* opera specific markup */ - border-bottom-left-radius: 4px; - border-bottom-right-radius: 4px; - box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); - /* firefox specific markup */ - -moz-border-radius-bottomleft: 4px; - -moz-border-radius-bottomright: 4px; - -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; - /* webkit specific markup */ - -webkit-border-bottom-left-radius: 4px; - -webkit-border-bottom-right-radius: 4px; - -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); -} - -dl.reflist dt { - padding: 5px; -} - -dl.reflist dd { - margin: 0px 0px 10px 0px; - padding: 5px; -} - -.paramkey { - text-align: right; -} - -.paramtype { - white-space: nowrap; -} - -.paramname { - color: var(--memdef-param-name-color); - white-space: nowrap; -} -.paramname em { - font-style: normal; -} -.paramname code { - line-height: 14px; -} - -.params, .retval, .exception, .tparams { - margin-left: 0px; - padding-left: 0px; -} - -.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { - font-weight: bold; - vertical-align: top; -} - -.params .paramtype, .tparams .paramtype { - font-style: italic; - vertical-align: top; -} - -.params .paramdir, .tparams .paramdir { - font-family: var(--font-family-monospace); - vertical-align: top; -} - -table.mlabels { - border-spacing: 0px; -} - -td.mlabels-left { - width: 100%; - padding: 0px; -} - -td.mlabels-right { - vertical-align: bottom; - padding: 0px; - white-space: nowrap; -} - -span.mlabels { - margin-left: 8px; -} - -span.mlabel { - background-color: var(--label-background-color); - border-top:1px solid var(--label-left-top-border-color); - border-left:1px solid var(--label-left-top-border-color); - border-right:1px solid var(--label-right-bottom-border-color); - border-bottom:1px solid var(--label-right-bottom-border-color); - text-shadow: none; - color: var(--label-foreground-color); - margin-right: 4px; - padding: 2px 3px; - border-radius: 3px; - font-size: 7pt; - white-space: nowrap; - vertical-align: middle; -} - - - -/* @end */ - -/* these are for tree view inside a (index) page */ - -div.directory { - margin: 10px 0px; - border-top: 1px solid var(--directory-separator-color); - border-bottom: 1px solid var(--directory-separator-color); - width: 100%; -} - -.directory table { - border-collapse:collapse; -} - -.directory td { - margin: 0px; - padding: 0px; - vertical-align: top; -} - -.directory td.entry { - white-space: nowrap; - padding-right: 6px; - padding-top: 3px; -} - -.directory td.entry a { - outline:none; -} - -.directory td.entry a img { - border: none; -} - -.directory td.desc { - width: 100%; - padding-left: 6px; - padding-right: 6px; - padding-top: 3px; - border-left: 1px solid rgba(0,0,0,0.05); -} - -.directory tr.odd { - padding-left: 6px; - background-color: var(--index-odd-item-bg-color); -} - -.directory tr.even { - padding-left: 6px; - background-color: var(--index-even-item-bg-color); -} - -.directory img { - vertical-align: -30%; -} - -.directory .levels { - white-space: nowrap; - width: 100%; - text-align: right; - font-size: 9pt; -} - -.directory .levels span { - cursor: pointer; - padding-left: 2px; - padding-right: 2px; - color: var(--page-link-color); -} - -.arrow { - color: var(--nav-arrow-color); - -webkit-user-select: none; - -khtml-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; - cursor: pointer; - font-size: 80%; - display: inline-block; - width: 16px; - height: 22px; -} - -.icon { - font-family: var(--font-family-icon); - line-height: normal; - font-weight: bold; - font-size: 12px; - height: 14px; - width: 16px; - display: inline-block; - background-color: var(--icon-background-color); - color: var(--icon-foreground-color); - text-align: center; - border-radius: 4px; - margin-left: 2px; - margin-right: 2px; -} - -.icona { - width: 24px; - height: 22px; - display: inline-block; -} - -.iconfopen { - width: 24px; - height: 18px; - margin-bottom: 4px; - background-image:var(--icon-folder-open-image); 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    Class Hierarchy
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    Go to the graphical class hierarchy

    -This inheritance list is sorted roughly, but not completely, alphabetically:
    -
    [detail level 12]
    - - - - - - - - - - - - - - -
     CBondClient
     Cfabric::CapabilityClientClass for capability client interactions
     Cfabric::CapabilityInfo
     Cfabric::connectionStructure representing connections between nodes
     Cfabric::nodeStructure representing a node in the fabric
     ▼Crclcpp::Node
     Cfabric::FabricClass representing the main server of the fabric
     ▼Cfabric::ParserBaseAbstract base class for XML plan parsing plugins
     Cfabric::XMLParserSyntax validation plugin for XML plans
     Cfabric::Plan
     ▼Cstd::runtime_error
     Cfabric::fabric_exceptionBase class for driver exceptions
     ▼Cfabric::ValidationBaseAbstract base class for XML plan validation plugins
     Cfabric::CompatibilityValidationSyntax validation plugin for XML plans
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    Fabric
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    -
    -

    Fabric is a ROS2 package that provides a system to coordinate and manage various capabilities as defined by the Capabilities2 framework. This package extends the functionality of the Capabilities2 package to implement a Finite State Machine based on capabilities. It is designed to parse an execution plan given via an XML file and identify connections between various capabilities in the system which would be relayed back to Capabilities2 framework to execute.

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    Currently the system supports 4 control functions:

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    • sequential: triggers child runners in sequence.
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    • parallel_all: waits for all child branches to report success before proceeding.
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    • parallel_any: proceeds when any child branch reports success.
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    • recovery: defines a recovery branch that can be triggered on failure.
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    -

    -Features

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      -
    • Implements a Partially Incomplete Finite State Machine based on the XML execution plan
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    • Validates the XML plan for compatibility with robot.
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    • Parses XML-based plans and identifies connections between capabilities.
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    • Informs capabilities2 framework regarding the capability connections and orchestrate a FSM.
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    -

    -Read more about,

    - -

    -Setting the Fabric

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    Clone the repo into a workspace

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    mkdir -p workspace/src
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    cd workspace/src
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    git clone https://github.com/CollaborativeRoboticsLab/fabric.git
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    cd ..
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    rosdep install --from-paths src --ignore-src -r -y
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    Setup the capabilities2 framework as instructed.

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    -Launching fabric

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    The fabric_server/plans/default.xml file is the default example plan. New plans can be added there or stored anywhere else on disk.

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    The fabric_server/config/fabric.yaml file configures the parser plugin, validation plugin, and capability client settings. The plan path itself is provided by the launch file.

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    Launch with the packaged default plan:

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    source install/setup.bash
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    ros2 launch fabric_server fabric.launch.py
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    Launch with a different packaged plan by filename:

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    source install/setup.bash
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    ros2 launch fabric_server fabric.launch.py filename:=default.xml
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    Launch with an explicit plan path:

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    source install/setup.bash
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    ros2 launch fabric_server fabric.launch.py plan_file_path:=/absolute/path/to/plan.xml
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    -Composed launch

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    Composed launch is a more efficient approach to spin up a system under a single process. Positives are IPC via shared memory, providing lower latency and optimized resoirce usage. Draw back of this approach is that, it becomes harder for debugging and fault tolerence.

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    Use independent launch files with standard node based implementations for debugging. For deployment, utilize composed launch where ever possible.

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    We provide several composed launch files for launching the system.

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    -Non generative launch

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    This launch file starts Fabric Server and Capabilities2 Server. Suitable for non-generative use with predefined plans.

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    source install/setup.bash
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    ros2 launch fabric_server nongenerative.launch.py
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    -Generative launch

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    This launch file starts Fabric Server, Capabilities2 Server, and prompt_tools. Suitable for generative use without perception.

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    export OPENAI_API_KEY=
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    source install/setup.bash
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    ros2 launch fabric_server generative.launch.py
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    -Generative launch with perception

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    This launch file starts Fabric Server, Capabilities2 Server, prompt_tools, and Perception Server. Suitable for generative use with perception.

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    export OPENAI_API_KEY=
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    source install/setup.bash
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    ros2 launch fabric_server generative_perception.launch.py
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a/docs/html/md_TODO.html +++ /dev/null @@ -1,85 +0,0 @@ - - - - - - - -Fabric: TODO - - - - - - - - - -
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    TODO
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    • Add a small integration test for /fabric/cancel_plan and /fabric/get_plan_status.
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    ROS2 Interface
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    Node Description
    Fabric Main server node. Loads the configured parser and validation plugins, queues plans, validates them against capabilities2, allocates/connects capabilities, and tracks execution status.
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    Service Service Message Description
    /fabric/cancel_plan CancelFabricPlan.srv Cancel the current plan running in the Fabric
    /fabric/set_completion CompleteFabric.srv Mark the current plan complete. The request contains only plan_id; the response is empty.
    /fabric/set_plan SetFabricPlan.srv Submit a plan as raw XML text. On success the response contains a generated plan_id; on rejection it returns an empty plan_id and an error string.
    /fabric/get_plan_status GetPlanStatus.srv Query the current queued or active status for a plan_id. Returns a FabricStatus code and, for parse failures, any rejected XML fragments collected during syntax validation.
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    BondClient
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    The BondClient class manages the lifecycle of a bond between the Fabric node and the capabilities server. Bonds are used to monitor the connection and ensure both sides are alive and responsive during plan execution.

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    -Purpose

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    • Establishes a heartbeat connection (bond) with the capabilities server for a specific plan execution (identified by a bond ID).
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    Method Purpose
    BondClient(node, bond_id) Constructor. Initializes the bond client with the node and bond ID. Retrieves the bond topic from parameters.
    start() Starts the bond, sets heartbeat period and timeout, and logs the event.
    stop() Stops and cleans up the bond, logging the event.
    ~BondClient() Destructor. Ensures the bond is stopped and cleaned up.
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    The BondClient ensures robust monitoring of the connection between Fabric and the capabilities server, enabling reliable plan execution and graceful handling of disconnections or failures.

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    CapabilityClient
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    The CapabilityClient class in Fabric is responsible for all interactions with the capabilities2 server. It manages service clients for querying available capabilities, establishing bonds, allocating and freeing capabilities, connecting them according to the plan, and triggering execution.

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    Method Purpose Related Capability Service
    initialize(node) Set up service clients, read service names from capability_client.services.*, and wait for each service to become available (all services below)
    getInterfaces(capabilities) Query all available interfaces and populate the list /capabilities/get_interfaces
    getSemanticInterfaces(capabilities) Query and append semantic interfaces for each capability /capabilities/get_semantic_interfaces
    getProviders(capabilities) Query and set providers and alternatives for each capability /capabilities/get_providers
    request_bond() Establish a bond with the server and return the bond ID /capabilities/establish_bond
    use_capabilities(plan) Request allocation of all capabilities in the plan /capabilities/use_capability
    free_capabilities(plan) Free all started capabilities in the plan /capabilities/free_capability
    connect_capabilities(plan) Configure connections between capabilities as per the plan /capabilities/connect_capability
    trigger_first_node(plan) Trigger the first capability in the plan to start execution /capabilities/trigger_capability
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    Parser as a Plugin in Fabric
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    -Motivation and Design

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    The parser in Fabric is implemented as a plugin so plan interpretation can be changed without modifying the server. A parser is selected at runtime through the parsing_plugin parameter. This design allows for:

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    This ensures that all plugins are interchangeable and can be managed uniformly by the Fabric core.

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    The XMLParserPlugin is the default parser for standard XML plans. Its key features include:

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    These are implemented via the add_parallel_all and add_parallel_any methods, which:

      -
    • Count the number of parallel branches.
      • -
    • Insert a system runner node into the plan's connection graph.
      • -
    • Update successor nodes to depend on the correct completion condition (all or any).
      • -
    -

    -Extracting Connections

    -

    The parser traverses the XML plan recursively:

      -
    • For each <Control> element, it determines the type (e.g., sequential, parallel_any, parallel_all) and processes its children accordingly.
      • -
    • For <Runner> elements, it requires interface and provider attributes, then converts all other XML attributes into typed EventParameters.
      • -
    • System runners for parallelism are inserted as needed, and unique IDs are assigned to each runner for tracking.
      • -
    • The process ensures that the resulting fabric::Plan accurately represents the intended execution flow, including complex parallel and recovery structures.
      • -
    -

    -Extending for Multiple Plan Versions

    -

    To support a new XML plan version or dialect:

      -
    1. Implement a new parser plugin inheriting from ParserBase.
      2. -
    2. Register the plugin so it can be discovered and loaded by Fabric.
      3. -
    3. The core remains unchanged; only the new plugin is added.
      4. -
    -

    This approach allows Fabric to evolve and support new plan formats without invasive changes to the core system.

    -
    -

    Summary:

      -
    • The parser plugin system keeps XML parsing format-specific code out of the server.
      • -
    • The XMLParserPlugin demonstrates how to handle control flow, parallelism, and connection extraction.
      • -
    • New plan formats can be supported by adding new plugins, keeping the core stable and extensible.
      • -
    -
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    For GitHub Pages, this repository can use GitHub Actions as both the build source and the deployment source. The workflow in .github/workflows/doxygen-pages.yml rebuilds the site whenever documentation or source files change and deploys the generated docs/html/ artifact to Pages.

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    Fabric Status System
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    -Overview

    -

    Fabric tracks plan lifecycle internally with fabric::PlanStatus and exposes it through fabric_msgs/msg/FabricStatus.

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    -Status Lifecycle

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    The current server code uses the following statuses during normal processing:

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    • UNKNOWN: Initial or indeterminate state.
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    • QUEUED: Plan is queued for processing.
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    • PARSING: Plan is being parsed.
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    • PARSE_FAILED: Parsing failed due to invalid format or errors.
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    • VALIDATION_FAILED: Validation failed (see rejected_list for reasons).
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    • BONDING: Establishing a bond with the capabilities server.
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    • BOND_FAILED: Failed to establish bond.
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    • CAPABILITY_START_FAILED: Failed to start capabilities.
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    • CAPABILITY_CONNECT_FAILED: Failed to connect capabilities.
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    • RUNNING: Plan is actively running.
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    • COMPLETED: Plan execution completed successfully.
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    • CANCELLED: Plan execution was cancelled before completion.
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    -

    When /fabric/cancel_plan targets the active plan, the server now marks it CANCELLED, stops the bond, wakes the processing thread, and frees allocated capabilities before moving on.

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    -Retrieving Plan Status

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    The status of any plan can be retrieved using the /fabric/get_plan_status ROS2 service.

    -

    Request fields:

    -
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    • header
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    • plan_id
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    Response fields:

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    • header
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    • status as fabric_msgs/msg/FabricStatus
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    • rejected_list
      • -
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    -Example Service Call

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    ros2 service call /fabric/get_plan_status fabric_msgs/srv/GetPlanStatus "{plan_id: '<your_plan_id>'}"
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    -Example Response

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    status:
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    code: 5 # VALIDATION_FAILED
    -
    rejected_list:
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    - "Missing required capability: foo"
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    - "Incompatible provider: bar"
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    In the current implementation, rejected_list is populated by parser syntax checks. Validation failures from CompatibilityValidation throw immediately and may leave rejected_list empty.

    -

    -Status Conversion

    -

    When responding to a status request, the server maps PlanStatus to fabric_msgs/msg/FabricStatus in status_msg().

    -

    -Extensibility

    -

    New statuses can be added by extending PlanStatus and updating the status mapping in the server.

    -
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    Fabric Structs and Their Usage
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    This document describes the core data structures (structs) used in Fabric, their fields, and how they are used throughout the system.

    -

    -Overview

    -

    The main structs are defined in fabric_base/utils/structs.hpp and are central to representing plans, nodes, connections, and capabilities in the Fabric execution engine.

    -

    -Structs Summary

    - - - - - - - - - - - - - -
    Struct Purpose
    node Represents a single execution node (runner/capability)
    connection Represents a directed connection between nodes
    Plan Represents a parsed plan, including all connections
    CapabilityInfo Describes a capability's interface, provider, and metadata
    event Enumerates supported event hooks (ON_START, ON_SUCCESS, ON_FAILURE, ON_STOP)
    -
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    -<tt>node</tt>

    -

    Represents a single runner or capability in the plan.

    - - - - - - - - - - - -
    Field Type Description
    interface std::string Interface name of the runner/capability
    provider std::string Provider name of the runner/capability
    parameters capabilities2_events::EventParameters Runner parameters converted from XML attributes
    instance_id int Parser-assigned instance identifier
    -

    Key Methods:

      -
    • exists() const: Returns true when both interface and provider are set.
      • -
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    Usage:

      -
    • Used as the source and target in connection.
      • -
    • Populated by the parser when extracting runners from the XML plan.
      • -
    -
    -

    -<tt>connection</tt>

    -

    Represents a directed edge in the plan's execution graph, connecting nodes and specifying control flow.

    - - - - - - - - - - - - - - - -
    Field Type Description
    source node The source node (runner/capability)
    on_start node Node to trigger on start event
    on_stop node Node to trigger on stop event
    on_success node Node to trigger on success event
    on_failure node Node to trigger on failure event
    description std::string Human-readable description
    -

    Usage:

      -
    • Populated by the parser when traversing the XML plan.
      • -
    • Used by the server to determine execution flow and event handling.
      • -
    -
    -

    -<tt>Plan</tt>

    -

    Represents the entire parsed plan, including all connections and metadata.

    - - - - - - - - - - - - - - - -
    Field Type Description
    plan_id std::string Generated identifier used for tracking
    bond_id std::string Unique bond identifier for the plan
    plan std::string Raw XML plan as a string
    connections std::map<int, connection> All connections in the plan
    rejected_list std::vector<std::string> List of rejected/invalid elements
    status PlanStatus Current lifecycle state for the plan
    -

    Usage:

      -
    • Created and populated by the parser plugin.
      • -
    • Managed by the server (plan_queue_, current_plan_).
      • -
    • Used to drive the execution and capability allocation.
      • -
    -
    -

    -<tt>CapabilityInfo</tt>

    -

    Describes a capability's interface, provider, and related metadata.

    - - - - - - - - - - - -
    Field Type Description
    interface std::string Interface name of the capability
    provider std::string Provider name of the capability
    is_semantic bool Whether the capability is semantic
    alt_providers std::vector<std::string> Alternative providers for the capability
    -

    Usage:

      -
    • Populated by the capability client.
      • -
    • Used by the server to allocate and manage capabilities for a plan.
      • -
    -
    -

    -Example Usage in the System

    -
      -
    • The parser plugin reads an XML plan and populates a Plan object, filling its connections map with connection structs, each referencing node structs for runners and control flow.
      • -
    • The server manages a queue of Plan objects (plan_queue_), processes each plan, and uses the connections to trigger capabilities and manage execution events.
      • -
    • CapabilityInfo is used to track and allocate the required capabilities for each plan.
      • -
    -

    This struct-based design enables clear separation of concerns and extensibility for new plan types, events, and capabilities.

    -
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    Validation Plugins in Fabric
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    -Motivation and Design

    -

    Validation plugins in Fabric provide a flexible and extensible mechanism for checking the compatibility and correctness of Fabric plans before execution. By decoupling validation logic from the core, Fabric can support multiple validation strategies and policies without requiring changes to the main system.

    -
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    • Early error detection: Catch configuration and compatibility issues before plan execution.
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    • Runtime selection: A validation plugin is selected at runtime through the compatibility_validation_plugin parameter.
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    -ValidationBase Interface

    -

    All validation plugins inherit from the ValidationBase abstract class, which defines the required interface:

    -
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    • initialize(const rclcpp::Node::SharedPtr&): Prepares the plugin with the ROS2 node context.
      • -
    • validate(fabric::Plan&, std::vector<CapabilityInfo>&): Validates the plan against available capabilities.
      • -
    -

    This ensures that all plugins are interchangeable and can be managed uniformly by the Fabric core.

    -

    -CompatibilityValidation: Reference Implementation

    -

    The CompatibilityValidation plugin is the default validator for plan compatibility. Its key features include:

    -
      -
    • Interface/provider matching: Ensures every connection source in the parsed plan references a valid capability interface and provider.
      • -
    • Provider flexibility: Supports both default and alternative providers for redundancy.
      • -
    • Error reporting: Throws on the first unmatched interface/provider combination, preventing invalid plans from executing.
      • -
    -

    -How CompatibilityValidation Works

    -
      -
    1. Initialization: The plugin is initialized with the ROS2 node context.
      2. -
    2. Validation: For each connection in the plan:
        -
      • Checks whether the source node's interface and provider match any entry in the provided capabilities list.
        • -
      • If not matched, checks the interface's alt_providers list.
        • -
      • If still unmatched, throws an exception to halt processing.
        • -
      -
      3. -
    3. Result: Only plans with valid capability assignments are allowed to proceed to execution.
      4. -
    -

    -Main Method

    - - - - - -
    Method Purpose
    validate(plan, capabilities) Validates each connection's interface/provider against available capabilities.
    -

    -Example Usage

    -
      -
    • The Fabric server loads the validation plugin at startup.
      • -
    • After parsing a plan, the server calls validate(plan, capabilities) before proceeding to capability allocation and execution.
      • -
    • If validation fails, the server marks the plan as VALIDATION_FAILED and logs the exception.
      • -
    -

    -Extending Validation

    -

    To support new validation policies:

      -
    1. Implement a new validation plugin inheriting from ValidationBase.
      2. -
    2. Register the plugin so it can be discovered and loaded by Fabric.
      3. -
    3. Configure the compatibility_validation_plugin parameter to load the new plugin.
      4. -
    -

    The current server loads a single validation plugin instance.

    -
    -

    Summary:

      -
    • The validation plugin system allows Fabric to swap validation strategies without changing the server.
      • -
    • The CompatibilityValidation plugin demonstrates how to enforce capability compatibility and prevent invalid plans from executing.
      • -
    • New validation policies can be supported by adding new plugins, keeping the core stable and extensible.
      • -
    -
    -
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    Fabric relies on XML plans to define workflows. A plan is submitted either from a file or through the /fabric/set_plan service as raw XML text.

    -

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    -
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    • <Plan> as the document root.
      • -
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    Supported control types are:

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    Any additional attributes on a <Runner> are forwarded into the runner's EventParameters and are auto-typed as bool, int, double, or string.

    -

    Below is a valid example plan shape:

    -
    <?xml version='1.0' encoding='UTF-8'?>
    -
    <Plan name='example_plan'>
    -
    <Control type='sequential' name='main_execution'>
    -
    <Runner interface='capabilities2_runner_nav2/WaypointRunner' provider='capabilities2_runner_nav2/WaypointRunner' x='5.0' y='5.0' />
    -
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    <Control type='parallel_any' name='gather_context'>
    -
    <Runner interface='capabilities2_runner_nav2/RobotPoseRunner' provider='capabilities2_runner_nav2/RobotPoseRunner' from='map' to='base_link' />
    -
    <Runner interface='capabilities2_runner_nav2/OccupancyGridRunner' provider='capabilities2_runner_nav2/OccupancyGridRunner' />
    -
    </Control>
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    <Control type='recovery' name='return_home_on_failure'>
    -
    <Runner interface='capabilities2_runner_nav2/WaypointRunner' provider='capabilities2_runner_nav2/WaypointRunner' x='0.0' y='0.0' />
    -
    </Control>
    -
    </Control>
    -
    </Plan>
    -

    Notes:

    -
      -
    • You do not need to include a completion runner manually. The parser appends fabric_capabilities/FabricCompletionRunner automatically and injects the generated plan_id.
      • -
    • A plan submitted through /fabric/set_plan only gets a lightweight XML compatibility check up front. Full syntax validation happens during parsing.
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    Please include a summary of the change and which issue is fixed. Also include relevant motivation and context.

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    Fixes #[issue]

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    Please delete options that are not relevant.

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    • [ ] Bug fix (non-breaking change which fixes an issue)
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    • [ ] New feature (non-breaking change which adds functionality)
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    Please describe the tests that you ran to verify your changes. Provide details of your testing environment, and the tests you ran to see how your change affects other areas of the code.

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    -Checklist

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    • [ ] My code follows the style guidelines of this project
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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - - @licend The above is the entire license notice for the JavaScript code in this file -*/ -var menudata={children:[ -{text:"Main Page",url:"index.html"}, -{text:"Related Pages",url:"pages.html"}, -{text:"Namespaces",url:"namespaces.html",children:[ -{text:"Namespace List",url:"namespaces.html"}, -{text:"Namespace Members",url:"namespacemembers.html",children:[ -{text:"All",url:"namespacemembers.html"}, -{text:"Functions",url:"namespacemembers_func.html"}, -{text:"Enumerations",url:"namespacemembers_enum.html"}, -{text:"Enumerator",url:"namespacemembers_eval.html"}]}]}, -{text:"Classes",url:"annotated.html",children:[ -{text:"Class List",url:"annotated.html"}, -{text:"Class Index",url:"classes.html"}, -{text:"Class Hierarchy",url:"inherits.html"}, -{text:"Class Members",url:"functions.html",children:[ -{text:"All",url:"functions.html",children:[ -{text:"a",url:"functions.html#index_a"}, -{text:"b",url:"functions.html#index_b"}, -{text:"c",url:"functions.html#index_c"}, -{text:"d",url:"functions.html#index_d"}, -{text:"e",url:"functions.html#index_e"}, -{text:"f",url:"functions.html#index_f"}, -{text:"g",url:"functions.html#index_g"}, -{text:"i",url:"functions.html#index_i"}, -{text:"l",url:"functions.html#index_l"}, -{text:"n",url:"functions.html#index_n"}, -{text:"o",url:"functions.html#index_o"}, -{text:"p",url:"functions.html#index_p"}, -{text:"r",url:"functions.html#index_r"}, -{text:"s",url:"functions.html#index_s"}, -{text:"t",url:"functions.html#index_t"}, -{text:"u",url:"functions.html#index_u"}, -{text:"v",url:"functions.html#index_v"}, -{text:"w",url:"functions.html#index_w"}, -{text:"x",url:"functions.html#index_x"}, -{text:"~",url:"functions.html#index__7E"}]}, -{text:"Functions",url:"functions_func.html",children:[ -{text:"a",url:"functions_func.html#index_a"}, -{text:"b",url:"functions_func.html#index_b"}, -{text:"c",url:"functions_func.html#index_c"}, -{text:"e",url:"functions_func.html#index_e"}, -{text:"f",url:"functions_func.html#index_f"}, -{text:"g",url:"functions_func.html#index_g"}, -{text:"i",url:"functions_func.html#index_i"}, -{text:"l",url:"functions_func.html#index_l"}, -{text:"o",url:"functions_func.html#index_o"}, -{text:"p",url:"functions_func.html#index_p"}, -{text:"r",url:"functions_func.html#index_r"}, -{text:"s",url:"functions_func.html#index_s"}, -{text:"t",url:"functions_func.html#index_t"}, -{text:"u",url:"functions_func.html#index_u"}, -{text:"v",url:"functions_func.html#index_v"}, -{text:"w",url:"functions_func.html#index_w"}, -{text:"x",url:"functions_func.html#index_x"}, -{text:"~",url:"functions_func.html#index__7E"}]}, -{text:"Variables",url:"functions_vars.html",children:[ -{text:"a",url:"functions_vars.html#index_a"}, -{text:"b",url:"functions_vars.html#index_b"}, -{text:"c",url:"functions_vars.html#index_c"}, -{text:"d",url:"functions_vars.html#index_d"}, -{text:"e",url:"functions_vars.html#index_e"}, -{text:"f",url:"functions_vars.html#index_f"}, -{text:"g",url:"functions_vars.html#index_g"}, -{text:"i",url:"functions_vars.html#index_i"}, -{text:"n",url:"functions_vars.html#index_n"}, -{text:"o",url:"functions_vars.html#index_o"}, -{text:"p",url:"functions_vars.html#index_p"}, -{text:"r",url:"functions_vars.html#index_r"}, -{text:"s",url:"functions_vars.html#index_s"}, -{text:"t",url:"functions_vars.html#index_t"}, -{text:"u",url:"functions_vars.html#index_u"}, -{text:"v",url:"functions_vars.html#index_v"}]}, -{text:"Typedefs",url:"functions_type.html"}]}]}, -{text:"Files",url:"files.html",children:[ -{text:"File List",url:"files.html"}, -{text:"File Members",url:"globals.html",children:[ -{text:"All",url:"globals.html"}, -{text:"Functions",url:"globals_func.html"}]}]}]} diff --git a/docs/html/minus.svg b/docs/html/minus.svg deleted file mode 100644 index f70d0c1..0000000 --- a/docs/html/minus.svg +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/docs/html/minusd.svg b/docs/html/minusd.svg deleted file mode 100644 index 5f8e879..0000000 --- a/docs/html/minusd.svg +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/docs/html/namespacefabric.html b/docs/html/namespacefabric.html deleted file mode 100644 index eef898c..0000000 --- a/docs/html/namespacefabric.html +++ /dev/null @@ -1,453 +0,0 @@ - - - - - - - -Fabric: fabric Namespace Reference - - - - - - - - - -
    -
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    Fabric -
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    - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

    -Classes

    class  CapabilityClient
     Class for capability client interactions. More...
     
    struct  CapabilityInfo
     
    class  CompatibilityValidation
     Syntax validation plugin for XML plans. More...
     
    struct  connection
     Structure representing connections between nodes. More...
     
    class  Fabric
     Class representing the main server of the fabric. More...
     
    struct  fabric_exception
     Base class for driver exceptions. More...
     
    struct  node
     Structure representing a node in the fabric. More...
     
    class  ParserBase
     Abstract base class for XML plan parsing plugins. More...
     
    struct  Plan
     
    class  ValidationBase
     Abstract base class for XML plan validation plugins. More...
     
    class  XMLParser
     Syntax validation plugin for XML plans. More...
     
    - - - - - - -

    -Enumerations

    enum  event { ON_START -, ON_SUCCESS -, ON_FAILURE -, ON_STOP - }
     Enumeration for different event types in connections. More...
     
    enum class  PlanStatus {
    -  UNKNOWN -, QUEUED -, PARSING -, PARSE_FAILED -,
    -  VALIDATING -, VALIDATION_FAILED -, BONDING -, BOND_FAILED -,
    -  CAPABILITY_STARTING -, CAPABILITY_START_FAILED -, CAPABILITY_CONNECTING -, CAPABILITY_CONNECT_FAILED -,
    -  RUNNING -, COMPLETED -, CANCELLED -
    - }
     
    - - - - - - - - - - - - - - - - - - -

    -Functions

    bool search (std::vector< std::string > list, std::string value)
     search a string in a vector of strings
     
    tinyxml2::XMLElement * extract_plan (tinyxml2::XMLDocument &document)
     Extract the <Plan> element from the XML document.
     
    bool convert_to_string (tinyxml2::XMLElement *element, std::string &parameters)
     convert XMLElement to std::string
     
    void convert_to_string (tinyxml2::XMLDocument &document_xml, std::string &document_string)
     convert XMLDocument to std::string
     
    bool check_syntax (tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
     check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan
     
     generate_launch_description ()
     
    -

    Enumeration Type Documentation

    - -

    ◆ event

    - -
    -
    - - - - -
    enum fabric::event
    -
    - -

    Enumeration for different event types in connections.

    - - - - - -
    Enumerator
    ON_START 
    ON_SUCCESS 
    ON_FAILURE 
    ON_STOP 
    - -
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    ◆ PlanStatus

    - -
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    enum class fabric::PlanStatus
    -     		-strong
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    - - - - - - - - - - - - - - - - -
    Enumerator
    UNKNOWN 
    QUEUED 
    PARSING 
    PARSE_FAILED 
    VALIDATING 
    VALIDATION_FAILED 
    BONDING 
    BOND_FAILED 
    CAPABILITY_STARTING 
    CAPABILITY_START_FAILED 
    CAPABILITY_CONNECTING 
    CAPABILITY_CONNECT_FAILED 
    RUNNING 
    COMPLETED 
    CANCELLED 
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    Function Documentation

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    ◆ check_syntax()

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    bool fabric::check_syntax (tinyxml2::XMLElement * element,
    std::vector< std::string > & control_list,
    std::vector< std::string > & rejected,
    std::string & error 
    )
    -
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    check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan

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    elementXML Element to be evaluated
    control_listlist of valid control tags
    rejectedlist containing invalid tags
    erroroutput string for error messages
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    )
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    Parameters
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    paramtersparameter to hold std::string
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    true if element is not nullptr and conversion successful, false if element is nullptr
    - -
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    ◆ extract_plan()

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    tinyxml2::XMLElement * fabric::extract_plan (tinyxml2::XMLDocument & document)
    -
    - -

    Extract the <Plan> element from the XML document.

    -

    This function checks if the root element of the provided XML document is <Plan>. If so, it returns the first child element of <Plan>. Otherwise, it indicates failure.

    -
    Parameters
    - - -
    documentThe XMLDocument to extract the plan from
    -
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    Returns
    tinyxml2::XMLElement* Pointer to the first child of <Plan> if successful, nullptr otherwise
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    ◆ generate_launch_description()

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    std::string value 
    )
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    search a string in a vector of strings

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    listvector of strings to be searched
    valuestring to be searched in the vector
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     generate_launch_description ()
     
    -

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    ◆ generate_launch_description()

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    generative.generate_launch_description ()
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    - - diff --git a/docs/html/namespacegenerative__perception.html b/docs/html/namespacegenerative__perception.html deleted file mode 100644 index fb8f9bb..0000000 --- a/docs/html/namespacegenerative__perception.html +++ /dev/null @@ -1,107 +0,0 @@ - - - - - - - -Fabric: generative_perception Namespace Reference - - - - - - - - - -
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    - - diff --git a/docs/html/namespacemembers.html b/docs/html/namespacemembers.html deleted file mode 100644 index b9d4b95..0000000 --- a/docs/html/namespacemembers.html +++ /dev/null @@ -1,91 +0,0 @@ - - - - - - - -Fabric: Namespace Members - - - - - - - - - -
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     generate_launch_description ()
     
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    [detail level 12]
    - - - - - - - - - - - - - - - -
     ▼Nfabric
     CCapabilityClientClass for capability client interactions
     CCapabilityInfo
     CCompatibilityValidationSyntax validation plugin for XML plans
     CconnectionStructure representing connections between nodes
     CFabricClass representing the main server of the fabric
     Cfabric_exceptionBase class for driver exceptions
     CnodeStructure representing a node in the fabric
     CParserBaseAbstract base class for XML plan parsing plugins
     CPlan
     CValidationBaseAbstract base class for XML plan validation plugins
     CXMLParserSyntax validation plugin for XML plans
     Ngenerative
     Ngenerative_perception
     Nnongenerative
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    parser_base.hpp File Reference
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    #include <string>
    -#include <vector>
    -#include <rclcpp/rclcpp.hpp>
    -#include <fabric_base/utils/structs.hpp>
    -#include <fabric_base/utils/xml_helper.hpp>
    -
    -Include dependency graph for parser_base.hpp:
    -
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    -This graph shows which files directly or indirectly include this file:
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    Go to the source code of this file.

    - - - - - -

    -Classes

    class  fabric::ParserBase
     Abstract base class for XML plan parsing plugins. More...
     
    - - - -

    -Namespaces

    namespace  fabric
     
    -
    - -
    -Generated by doxygen 1.9.8 -
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    parser_base.hpp
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    -Go to the documentation of this file.
    1#pragma once
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    2#include <string>
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    3#include <vector>
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    4#include <rclcpp/rclcpp.hpp>
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    5#include <fabric_base/utils/structs.hpp>
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    6#include <fabric_base/utils/xml_helper.hpp>
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    8namespace fabric
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    9{
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    10
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    17class ParserBase
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    18{
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    19public:
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    20 virtual ~ParserBase() = default;
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    28 virtual void initialize(const rclcpp::Node::SharedPtr& node)
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    29 {
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    30 initialize_base(node, "ParserBasePlugin");
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    31 }
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    32
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    39 virtual bool load_file(const std::string& file_path, fabric::Plan& plan) = 0;
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    40
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    47 virtual void parse(fabric::Plan& plan) = 0;
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    48
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    55 virtual bool check_compatibility(const fabric::Plan& plan) = 0;
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    56
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    57protected:
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    64 void initialize_base(const rclcpp::Node::SharedPtr& node, const std::string& plugin_name)
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    65 {
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    66 node_ = node;
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    67 plugin_name_ = plugin_name;
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    68 }
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    69
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    73 rclcpp::Node::SharedPtr node_;
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    74
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    78 std::string plugin_name_;
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    79};
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    80
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    81} // namespace fabric
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    fabric::ParserBase
    Abstract base class for XML plan parsing plugins.
    Definition parser_base.hpp:18
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    fabric::ParserBase::initialize_base
    void initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
    Base initialization method for derived classes.
    Definition parser_base.hpp:64
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    fabric::ParserBase::load_file
    virtual bool load_file(const std::string &file_path, fabric::Plan &plan)=0
    load a file into an XML document
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    fabric::ParserBase::initialize
    virtual void initialize(const rclcpp::Node::SharedPtr &node)
    Initialize the validation plugin with the given ROS2 node.
    Definition parser_base.hpp:28
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    fabric::ParserBase::parse
    virtual void parse(fabric::Plan &plan)=0
    Parse the given XML plan.
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    fabric::ParserBase::~ParserBase
    virtual ~ParserBase()=default
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    fabric::ParserBase::plugin_name_
    std::string plugin_name_
    Name of the validation plugin.
    Definition parser_base.hpp:78
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    fabric::ParserBase::node_
    rclcpp::Node::SharedPtr node_
    Shared pointer to the ROS2 node.
    Definition parser_base.hpp:73
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    fabric::ParserBase::check_compatibility
    virtual bool check_compatibility(const fabric::Plan &plan)=0
    Check the compatibility of the given plan with the given parser.
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    fabric
    Definition parser_base.hpp:9
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    fabric::Plan
    Definition structs.hpp:70
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    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
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- background-color: var(--search-filter-highlight-bg-color); - outline-style: none; - text-decoration: none; - cursor: pointer; - display: block; -} - -/*---------------- Search results window */ - -iframe#MSearchResults { - /*width: 60ex;*/ - height: 15em; -} - -#MSearchResultsWindow { - display: none; - position: absolute; - left: 0; top: 0; - border: 1px solid var(--search-results-border-color); - background-color: var(--search-results-background-color); - z-index:10000; - width: 300px; - height: 400px; - overflow: auto; -} - -/* ----------------------------------- */ - - -#SRIndex { - clear:both; -} - -.SREntry { - font-size: 10pt; - padding-left: 1ex; -} - -.SRPage .SREntry { - font-size: 8pt; - padding: 1px 5px; -} - -div.SRPage { - margin: 5px 2px; - background-color: var(--search-results-background-color); -} - -.SRChildren { - padding-left: 3ex; padding-bottom: .5em -} - -.SRPage .SRChildren { - display: none; -} - -.SRSymbol { - font-weight: bold; - color: var(--search-results-foreground-color); - font-family: var(--font-family-search); - text-decoration: none; - outline: none; -} - -a.SRScope { - display: block; - color: var(--search-results-foreground-color); - font-family: var(--font-family-search); - font-size: 8pt; - text-decoration: none; - outline: none; -} - -a.SRSymbol:focus, a.SRSymbol:active, -a.SRScope:focus, a.SRScope:active { - text-decoration: underline; -} - -span.SRScope { - padding-left: 4px; - font-family: var(--font-family-search); -} - -.SRPage .SRStatus { - padding: 2px 5px; - font-size: 8pt; - font-style: italic; - font-family: var(--font-family-search); -} - -.SRResult { - display: none; -} - -div.searchresults { - margin-left: 10px; - margin-right: 10px; -} - -/*---------------- External search page results */ - -.pages b { - color: white; - padding: 5px 5px 3px 5px; - background-image: var(--nav-gradient-active-image-parent); - background-repeat: repeat-x; - text-shadow: 0 1px 1px #000000; -} - -.pages { - line-height: 17px; - margin-left: 4px; - text-decoration: none; -} - -.hl { - font-weight: bold; -} - -#searchresults { - margin-bottom: 20px; -} - -.searchpages { - margin-top: 10px; -} - diff --git a/docs/html/search/search.js b/docs/html/search/search.js deleted file mode 100644 index 6fd40c6..0000000 --- a/docs/html/search/search.js +++ /dev/null @@ -1,840 +0,0 @@ -/* - @licstart The following is the entire license notice for the JavaScript code in this file. - - The MIT License (MIT) - - Copyright (C) 1997-2020 by Dimitri van Heesch - - Permission is hereby granted, free of charge, to any person obtaining a copy of this software - and associated documentation files (the "Software"), to deal in the Software without restriction, - including without limitation the rights to use, copy, modify, merge, publish, distribute, - sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in all copies or - substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING - BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, - DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - - @licend The above is the entire license notice for the JavaScript code in this file - */ -function convertToId(search) -{ - var result = ''; - for (i=0;i do a search - { - this.Search(); - } - } - - this.OnSearchSelectKey = function(evt) - { - var e = (evt) ? evt : window.event; // for IE - if (e.keyCode==40 && this.searchIndex0) // Up - { - this.searchIndex--; - this.OnSelectItem(this.searchIndex); - } - else if (e.keyCode==13 || e.keyCode==27) - { - e.stopPropagation(); - this.OnSelectItem(this.searchIndex); - this.CloseSelectionWindow(); - this.DOMSearchField().focus(); - } - return false; - } - - // --------- Actions - - // Closes the results window. - this.CloseResultsWindow = function() - { - this.DOMPopupSearchResultsWindow().style.display = 'none'; - this.DOMSearchClose().style.display = 'none'; - this.Activate(false); - } - - this.CloseSelectionWindow = function() - { - this.DOMSearchSelectWindow().style.display = 'none'; - } - - // Performs a search. - this.Search = function() - { - this.keyTimeout = 0; - - // strip leading whitespace - var searchValue = this.DOMSearchField().value.replace(/^ +/, ""); - - var code = searchValue.toLowerCase().charCodeAt(0); - var idxChar = searchValue.substr(0, 1).toLowerCase(); - if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair - { - idxChar = searchValue.substr(0, 2); - } - - var jsFile; - - var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); - if (idx!=-1) - { - var hexCode=idx.toString(16); - jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js'; - } - - var loadJS = function(url, impl, loc){ - var scriptTag = document.createElement('script'); - scriptTag.src = url; - scriptTag.onload = impl; - scriptTag.onreadystatechange = impl; - loc.appendChild(scriptTag); - } - - var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); - var domSearchBox = this.DOMSearchBox(); - var domPopupSearchResults = this.DOMPopupSearchResults(); - var domSearchClose = this.DOMSearchClose(); - var resultsPath = this.resultsPath; - - var handleResults = function() { - document.getElementById("Loading").style.display="none"; - if (typeof searchData !== 'undefined') { - createResults(resultsPath); - document.getElementById("NoMatches").style.display="none"; - } - - if (idx!=-1) { - searchResults.Search(searchValue); - } else { // no file with search results => force empty search results - searchResults.Search('===='); - } - - if (domPopupSearchResultsWindow.style.display!='block') - { - domSearchClose.style.display = 'inline-block'; - var left = getXPos(domSearchBox) + 150; - var top = getYPos(domSearchBox) + 20; - domPopupSearchResultsWindow.style.display = 'block'; - left -= domPopupSearchResults.offsetWidth; - var maxWidth = document.body.clientWidth; - var maxHeight = document.body.clientHeight; - var width = 300; - if (left<10) left=10; - if (width+left+8>maxWidth) width=maxWidth-left-8; - var height = 400; - if (height+top+8>maxHeight) height=maxHeight-top-8; - domPopupSearchResultsWindow.style.top = top + 'px'; - domPopupSearchResultsWindow.style.left = left + 'px'; - domPopupSearchResultsWindow.style.width = width + 'px'; - domPopupSearchResultsWindow.style.height = height + 'px'; - } - } - - if (jsFile) { - loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow()); - } else { - handleResults(); - } - - this.lastSearchValue = searchValue; - } - - // -------- Activation Functions - - // Activates or deactivates the search panel, resetting things to - // their default values if necessary. - this.Activate = function(isActive) - { - if (isActive || // open it - this.DOMPopupSearchResultsWindow().style.display == 'block' - ) - { - this.DOMSearchBox().className = 'MSearchBoxActive'; - this.searchActive = true; - } - else if (!isActive) // directly remove the panel - { - this.DOMSearchBox().className = 'MSearchBoxInactive'; - this.searchActive = false; - this.lastSearchValue = '' - this.lastResultsPage = ''; - this.DOMSearchField().value = ''; - } - } -} - -// ----------------------------------------------------------------------- - -// The class that handles everything on the search results page. -function SearchResults(name) -{ - // The number of matches from the last run of . - this.lastMatchCount = 0; - this.lastKey = 0; - this.repeatOn = false; - - // Toggles the visibility of the passed element ID. - this.FindChildElement = function(id) - { - var parentElement = document.getElementById(id); - var element = parentElement.firstChild; - - while (element && element!=parentElement) - { - if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') - { - return element; - } - - if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) - { - element = element.firstChild; - } - else if (element.nextSibling) - { - element = element.nextSibling; - } - else - { - do - { - element = element.parentNode; - } - while (element && element!=parentElement && !element.nextSibling); - - if (element && element!=parentElement) - { - element = element.nextSibling; - } - } - } - } - - this.Toggle = function(id) - { - var element = this.FindChildElement(id); - if (element) - { - if (element.style.display == 'block') - { - element.style.display = 'none'; - } - else - { - element.style.display = 'block'; - } - } - } - - // Searches for the passed string. If there is no parameter, - // it takes it from the URL query. - // - // Always returns true, since other documents may try to call it - // and that may or may not be possible. - this.Search = function(search) - { - if (!search) // get search word from URL - { - search = window.location.search; - search = search.substring(1); // Remove the leading '?' - search = unescape(search); - } - - search = search.replace(/^ +/, ""); // strip leading spaces - search = search.replace(/ +$/, ""); // strip trailing spaces - search = search.toLowerCase(); - search = convertToId(search); - - var resultRows = document.getElementsByTagName("div"); - var matches = 0; - - var i = 0; - while (i < resultRows.length) - { - var row = resultRows.item(i); - if (row.className == "SRResult") - { - var rowMatchName = row.id.toLowerCase(); - rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' - - if (search.length<=rowMatchName.length && - rowMatchName.substr(0, search.length)==search) - { - row.style.display = 'block'; - matches++; - } - else - { - row.style.display = 'none'; - } - } - i++; - } - document.getElementById("Searching").style.display='none'; - if (matches == 0) // no results - { - document.getElementById("NoMatches").style.display='block'; - } - else // at least one result - { - document.getElementById("NoMatches").style.display='none'; - } - this.lastMatchCount = matches; - return true; - } - - // return the first item with index index or higher that is visible - this.NavNext = function(index) - { - var focusItem; - while (1) - { - var focusName = 'Item'+index; - focusItem = document.getElementById(focusName); - if (focusItem && focusItem.parentNode.parentNode.style.display=='block') - { - break; - } - else if (!focusItem) // last element - { - break; - } - focusItem=null; - index++; - } - return focusItem; - } - - this.NavPrev = function(index) - { - var focusItem; - while (1) - { - var focusName = 'Item'+index; - focusItem = document.getElementById(focusName); - if (focusItem && focusItem.parentNode.parentNode.style.display=='block') - { - break; - } - else if (!focusItem) // last element - { - break; - } - focusItem=null; - index--; - } - return focusItem; - } - - this.ProcessKeys = function(e) - { - if (e.type == "keydown") - { - this.repeatOn = false; - this.lastKey = e.keyCode; - } - else if (e.type == "keypress") - { - if (!this.repeatOn) - { - if (this.lastKey) this.repeatOn = true; - return false; // ignore first keypress after keydown - } - } - else if (e.type == "keyup") - { - this.lastKey = 0; - this.repeatOn = false; - } - return this.lastKey!=0; - } - - this.Nav = function(evt,itemIndex) - { - var e = (evt) ? evt : window.event; // for IE - if (e.keyCode==13) return true; - if (!this.ProcessKeys(e)) return false; - - if (this.lastKey==38) // Up - { - var newIndex = itemIndex-1; - var focusItem = this.NavPrev(newIndex); - if (focusItem) - { - var child = this.FindChildElement(focusItem.parentNode.parentNode.id); - if (child && child.style.display == 'block') // children visible - { - var n=0; - var tmpElem; - while (1) // search for last child - { - tmpElem = document.getElementById('Item'+newIndex+'_c'+n); - if (tmpElem) - { - focusItem = tmpElem; - } - else // found it! - { - break; - } - n++; - } - } - } - if (focusItem) - { - focusItem.focus(); - } - else // return focus to search field - { - document.getElementById("MSearchField").focus(); - } - } - else if (this.lastKey==40) // Down - { - var newIndex = itemIndex+1; - var focusItem; - var item = document.getElementById('Item'+itemIndex); - var elem = this.FindChildElement(item.parentNode.parentNode.id); - if (elem && elem.style.display == 'block') // children visible - { - focusItem = document.getElementById('Item'+itemIndex+'_c0'); - } - if (!focusItem) focusItem = this.NavNext(newIndex); - if (focusItem) focusItem.focus(); - } - else if (this.lastKey==39) // Right - { - var item = document.getElementById('Item'+itemIndex); - var elem = this.FindChildElement(item.parentNode.parentNode.id); - if (elem) elem.style.display = 'block'; - } - else if (this.lastKey==37) // Left - { - var item = document.getElementById('Item'+itemIndex); - var elem = this.FindChildElement(item.parentNode.parentNode.id); - if (elem) elem.style.display = 'none'; - } - else if (this.lastKey==27) // Escape - { - e.stopPropagation(); - searchBox.CloseResultsWindow(); - document.getElementById("MSearchField").focus(); - } - else if (this.lastKey==13) // Enter - { - return true; - } - return false; - } - - this.NavChild = function(evt,itemIndex,childIndex) - { - var e = (evt) ? evt : window.event; // for IE - if (e.keyCode==13) return true; - if (!this.ProcessKeys(e)) return false; - - if (this.lastKey==38) // Up - { - if (childIndex>0) - { - var newIndex = childIndex-1; - document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); - } - else // already at first child, jump to parent - { - document.getElementById('Item'+itemIndex).focus(); - } - } - else if (this.lastKey==40) // Down - { - var newIndex = childIndex+1; - var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); - if (!elem) // last child, jump to parent next parent - { - elem = this.NavNext(itemIndex+1); - } - if (elem) - { - elem.focus(); - } - } - else if (this.lastKey==27) // Escape - { - e.stopPropagation(); - searchBox.CloseResultsWindow(); - document.getElementById("MSearchField").focus(); - } - else if (this.lastKey==13) // Enter - { - return true; - } - return false; - } -} - -function setKeyActions(elem,action) -{ - elem.setAttribute('onkeydown',action); - elem.setAttribute('onkeypress',action); - elem.setAttribute('onkeyup',action); -} - -function setClassAttr(elem,attr) -{ - elem.setAttribute('class',attr); - elem.setAttribute('className',attr); -} - -function createResults(resultsPath) -{ - var results = document.getElementById("SRResults"); - results.innerHTML = ''; - for (var e=0; e - - - - - - -Fabric: fabric_server/include/fabric_server/server.hpp File Reference - - - - - - - - - -
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    server.hpp File Reference
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    #include <map>
    -#include <deque>
    -#include <string>
    -#include <thread>
    -#include <ament_index_cpp/get_package_share_directory.hpp>
    -#include <tinyxml2.h>
    -#include <uuid/uuid.h>
    -#include <rclcpp/rclcpp.hpp>
    -#include <pluginlib/class_loader.hpp>
    -#include <fabric_base/utils/xml_helper.hpp>
    -#include <fabric_base/utils/structs.hpp>
    -#include <fabric_base/validation_base.hpp>
    -#include <fabric_base/parser_base.hpp>
    -#include <fabric_server/capability_client.hpp>
    -#include <fabric_server/bond_client.hpp>
    -#include <fabric_msgs/srv/set_fabric_plan.hpp>
    -#include <fabric_msgs/srv/cancel_fabric_plan.hpp>
    -#include <fabric_msgs/srv/complete_fabric.hpp>
    -#include <fabric_msgs/srv/get_plan_status.hpp>
    -#include <fabric_msgs/msg/fabric_status.hpp>
    -
    -Include dependency graph for server.hpp:
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    class  fabric::Fabric
     Class representing the main server of the fabric. More...
     
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    namespace  fabric
     
    -
    - -
    -Generated by doxygen 1.9.8 -
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z%h1aIZhxkDORmb54ZbCVkdP1|tM(Jf{v)pk7JNp|uiD{Kx5B>+>pwg2w|`ztkT`(c zGI88?Sqf4}EVV{FxbPfQoMeC=XVl*R?EF6d^4&2?X31N1eg_u$#+A+-m+y2xh9~jwKYJvCN&GSrw(1K9tI_PT@H`amgC+Qwnf!1N|QCw(5(Go?z$H@3pj` zgd2j_jq>k}-T1?W+vB-QGSDE86euAFIIu_ z(seuD@@*)W5f0mW+^ZpRL1522$#$}%hrU<<4)6vC2RkX>HlBHHK|&W!wj?|3dkO0H zDzc?YlfIIu6MtJ#>gdbq4lK%n|KDw~Q`B{TyV>>6wxyuJo$$Jd@Q>I0?|Ve||C7x5 z&oZ`4sQ*Jl=f8ntQJmvXRK$ON_DRz05pF4zg!kJwZ*IFCXY*6h(10rQfBc-0CtKd! xLJncJS0<5QjC(2=%lzoSulB$4Uv|F#Ce#el3&cKsQ-p$tvZA^|-c_?l{|7OBKR5sY diff --git a/docs/html/server_8hpp_source.html b/docs/html/server_8hpp_source.html deleted file mode 100644 index 7c70e67..0000000 --- a/docs/html/server_8hpp_source.html +++ /dev/null @@ -1,716 +0,0 @@ - - - - - - - -Fabric: fabric_server/include/fabric_server/server.hpp Source File - - - - - - - - - - -
    -
    server.hpp
    -
    -
    -Go to the documentation of this file.
    1#pragma once
    -
    2
    -
    3#include <map>
    -
    4#include <deque>
    -
    5#include <string>
    -
    6#include <thread>
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    7
    -
    8#include <ament_index_cpp/get_package_share_directory.hpp>
    -
    9#include <tinyxml2.h>
    -
    10#include <uuid/uuid.h>
    -
    11#include <rclcpp/rclcpp.hpp>
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    12#include <pluginlib/class_loader.hpp>
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    13
    -
    14#include <fabric_base/utils/xml_helper.hpp>
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    15#include <fabric_base/utils/structs.hpp>
    -
    16#include <fabric_base/validation_base.hpp>
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    17#include <fabric_base/parser_base.hpp>
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    18
    -
    19#include <fabric_server/capability_client.hpp>
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    20#include <fabric_server/bond_client.hpp>
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    21
    -
    22#include <fabric_msgs/srv/set_fabric_plan.hpp>
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    23#include <fabric_msgs/srv/cancel_fabric_plan.hpp>
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    24#include <fabric_msgs/srv/complete_fabric.hpp>
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    25#include <fabric_msgs/srv/get_plan_status.hpp>
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    26#include <fabric_msgs/msg/fabric_status.hpp>
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    27
    -
    28namespace fabric
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    29{
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    30
    -
    -
    35class Fabric : public rclcpp::Node
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    36{
    -
    37public:
    -
    38 using SetFabricPlan = fabric_msgs::srv::SetFabricPlan;
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    39 using CancelFabricPlan = fabric_msgs::srv::CancelFabricPlan;
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    40 using CompleteFabric = fabric_msgs::srv::CompleteFabric;
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    41 using GetPlanStatus = fabric_msgs::srv::GetPlanStatus;
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    42
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    -
    48 Fabric(const rclcpp::NodeOptions& options = rclcpp::NodeOptions())
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    49 : Node("Fabric", options)
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    50 , validation_loader_("fabric_base", "fabric::ValidationBase")
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    51 , parsing_loader_("fabric_base", "fabric::ParserBase")
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    52 {
    -
    53 try
    -
    54 {
    -
    55 // Only call setup if this object is already owned by a shared_ptr
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    56 if (shared_from_this())
    -
    57 {
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    58 initialize();
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    59 }
    -
    60 }
    -
    61 catch (const std::bad_weak_ptr&)
    -
    62 {
    -
    63 // Not yet safe — probably standalone without make_shared
    -
    64 }
    -
    65 }
    -
    -
    66
    -
    -
    71 void initialize()
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    72 {
    -
    73 /*************************************************************************
    -
    74 * Parameters
    -
    75 ************************************************************************/
    -
    76 const std::string default_plan_file_path = ament_index_cpp::get_package_share_directory("fabric_server") + "/plans/default.xml";
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    77 this->declare_parameter("plan_file_path", default_plan_file_path);
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    78 plan_file_path_ = this->get_parameter("plan_file_path").as_string();
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    79
    -
    80 /*************************************************************************
    -
    81 * Fabric services
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    82 ************************************************************************/
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    83 plan_server_ = this->create_service<SetFabricPlan>("/fabric/set_plan",
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    84 std::bind(&Fabric::setPlanCallback, this, std::placeholders::_1, std::placeholders::_2));
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    85
    -
    86 cancel_server_ = this->create_service<CancelFabricPlan>(
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    87 "/fabric/cancel_plan", std::bind(&Fabric::cancelPlanCallback, this, std::placeholders::_1, std::placeholders::_2));
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    88
    -
    89 completion_server_ = this->create_service<CompleteFabric>(
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    90 "/fabric/set_completion", std::bind(&Fabric::setCompleteCallback, this, std::placeholders::_1, std::placeholders::_2));
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    91
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    92 get_plan_status_server_ = this->create_service<GetPlanStatus>(
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    93 "/fabric/get_plan_status", std::bind(&Fabric::getPlanStatusCallback, this, std::placeholders::_1, std::placeholders::_2));
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    94
    -
    95 /*************************************************************************
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    96 * Initialize Compatibility Validation Plugin
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    97 ************************************************************************/
    -
    98
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    99 this->declare_parameter("compatibility_validation_plugin", "fabric::CompatibilityValidation");
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    100 std::string compatibility_validation_plugin_name = this->get_parameter("compatibility_validation_plugin").as_string();
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    101
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    102 RCLCPP_INFO(this->get_logger(), "[server] Loading compatibility validation plugin: %s", compatibility_validation_plugin_name.c_str());
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    103
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    104 compatibility_validation_plugin_ = validation_loader_.createSharedInstance(compatibility_validation_plugin_name);
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    105 compatibility_validation_plugin_->initialize(shared_from_this());
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    106
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    107 RCLCPP_INFO(this->get_logger(), "[server] Initialized compatibility validation plugin: %s", compatibility_validation_plugin_name.c_str());
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    108
    -
    109 /*************************************************************************
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    110 * Initialize Parsing Plugins
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    111 ************************************************************************/
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    112
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    113 this->declare_parameter("parsing_plugin", "fabric::XMLParser");
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    114 std::string parsing_plugin_name = this->get_parameter("parsing_plugin").as_string();
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    115
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    116 RCLCPP_INFO(this->get_logger(), "[server] Loading parsing plugin: %s", parsing_plugin_name.c_str());
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    117
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    118 parsing_plugin_ = parsing_loader_.createSharedInstance(parsing_plugin_name);
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    119 parsing_plugin_->initialize(shared_from_this());
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    120
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    121 RCLCPP_INFO(this->get_logger(), "[server] Initialized parsing plugin: %s", parsing_plugin_name.c_str());
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    122
    -
    123 /*************************************************************************
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    124 * Initialize internal components
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    125 ************************************************************************/
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    126 capability_client_ = std::make_shared<CapabilityClient>();
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    127 capability_client_->initialize(this->shared_from_this());
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    128
    -
    129 /*************************************************************************
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    130 * Load Starter plan from file
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    131 ************************************************************************/
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    132 fabric::Plan starter_plan;
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    133 if (!parsing_plugin_->load_file(plan_file_path_, starter_plan))
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    134 {
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    135 RCLCPP_ERROR(this->get_logger(), "[server] Failed to load default plan from file: %s", plan_file_path_.c_str());
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    136 throw fabric::fabric_exception("Failed to load default plan");
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    137 }
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    138 starter_plan.plan_id = generate_uuid();
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    139 starter_plan.status = PlanStatus::QUEUED;
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    140
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    141 plan_queue_.push_back(starter_plan);
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    142
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    143 RCLCPP_INFO(this->get_logger(), "[server] Fabric node initialized");
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    144
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    145 /*************************************************************************
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    146 * Initialize process thread
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    147 ************************************************************************/
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    148
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    149 process_thread = std::thread(&Fabric::process, this);
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    150 }
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    -
    151
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    152protected:
    -
    -
    157 void process()
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    158 {
    -
    159 while (plan_queue_.size() > 0)
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    160 {
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    161 // reset internal data structures
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    162 reset();
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    163
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    164 RCLCPP_INFO(this->get_logger(), "[server] A new Fabric plan processing starting");
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    165
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    166 // get the next plan and parse it into a XML document
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    167 current_plan_ = plan_queue_.front();
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    168 plan_queue_.pop_front();
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    169
    -
    170 if (current_plan_.status == PlanStatus::CANCELLED)
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    171 {
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    172 RCLCPP_INFO(this->get_logger(), "[server] Skipping cancelled plan with id: %s", current_plan_.plan_id.c_str());
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    173 continue;
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    174 }
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    175
    -
    176 // parse the plan to extract connections (Fabric::Plan) as per the parsing plugin
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    177 try
    -
    178 {
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    179 RCLCPP_INFO(this->get_logger(), "[server] Parsing the fabric plan.");
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    180 current_plan_.status = PlanStatus::PARSING;
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    181
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    182 parsing_plugin_->parse(current_plan_);
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    183 }
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    184 catch (const fabric::fabric_exception& e)
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    185 {
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    186 RCLCPP_ERROR(this->get_logger(), "[server] Fabric plan parsing failed with error: %s", e.what());
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    187 current_plan_.status = PlanStatus::PARSE_FAILED;
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    188 continue;
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    189 }
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    190 RCLCPP_INFO(this->get_logger(), "[server] Fabric plan parsing completed successfully.");
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    191
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    192 // get the capabilities required for the plan
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    193 try
    -
    194 {
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    195 RCLCPP_INFO(this->get_logger(), "[server] Getting capabilities required for the plan.");
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    196 current_plan_.status = PlanStatus::VALIDATING;
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    197 capability_client_->getInterfaces(capability_list_);
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    198 capability_client_->getSemanticInterfaces(capability_list_);
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    199 capability_client_->getProviders(capability_list_);
    -
    200 }
    -
    201 catch (const fabric::fabric_exception& e)
    -
    202 {
    -
    203 RCLCPP_ERROR(this->get_logger(), "[server] Capability information retrieval failed with error: %s", e.what());
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    204 current_plan_.status = PlanStatus::VALIDATION_FAILED;
    -
    205 continue;
    -
    206 }
    -
    207
    -
    208 RCLCPP_INFO(this->get_logger(), "[server] Capability information retrieval completed successfully.");
    -
    209
    -
    210 // validate the plan for compatibility as per the validation plugin
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    211 try
    -
    212 {
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    213 RCLCPP_INFO(this->get_logger(), "[server] Validating the fabric plan for compatibility.");
    -
    214
    -
    215 compatibility_validation_plugin_->validate(current_plan_, capability_list_);
    -
    216 }
    -
    217 catch (const fabric::fabric_exception& e)
    -
    218 {
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    219 RCLCPP_ERROR(this->get_logger(), "[server] Compatibility validation failed with error: %s", e.what());
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    220 current_plan_.status = PlanStatus::VALIDATION_FAILED;
    -
    221 continue;
    -
    222 }
    -
    223
    -
    224 // Request bond from capabilities2 server
    -
    225 try
    -
    226 {
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    227 RCLCPP_INFO(this->get_logger(), "[server] Requesting bond from capabilities2 server.");
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    228 current_plan_.status = PlanStatus::BONDING;
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    229
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    230 current_plan_.bond_id = capability_client_->request_bond();
    -
    231 }
    -
    232 catch (const fabric::fabric_exception& e)
    -
    233 {
    -
    234 RCLCPP_ERROR(this->get_logger(), "[server] Capability bond request failed with error: %s", e.what());
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    235 current_plan_.status = PlanStatus::BOND_FAILED;
    -
    236 continue;
    -
    237 }
    -
    238
    -
    239 // Start new bond client for the new bond id
    -
    240 RCLCPP_INFO(this->get_logger(), "[server] Establishing bond with id : %s", current_plan_.bond_id.c_str());
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    241 bond_client_cache_[current_plan_.bond_id] = std::make_unique<BondClient>(shared_from_this(), current_plan_.bond_id);
    -
    242 bond_client_cache_[current_plan_.bond_id]->start();
    -
    243
    -
    244 // Remove old bonds if any
    -
    245 if (bond_client_cache_.size() > 1)
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    246 for (auto& [old_bond_id, bond_client] : bond_client_cache_)
    -
    247 if (old_bond_id != current_plan_.bond_id)
    -
    248 {
    -
    249 bond_client->stop();
    -
    250 RCLCPP_INFO(this->get_logger(), "[server] Stopping and removing old bond with id : %s", old_bond_id.c_str());
    -
    251 }
    -
    252
    -
    253 RCLCPP_INFO(this->get_logger(), "[server] Bond established with id : %s", current_plan_.bond_id.c_str());
    -
    254
    -
    255 // Request use of capabilities for the plan
    -
    256 try
    -
    257 {
    -
    258 RCLCPP_INFO(this->get_logger(), "[server] Requesting use of capabilities for the plan.");
    -
    259 current_plan_.status = PlanStatus::CAPABILITY_STARTING;
    -
    260
    -
    261 capability_client_->use_capabilities(current_plan_);
    -
    262 }
    -
    263 catch (const fabric::fabric_exception& e)
    -
    264 {
    -
    265 RCLCPP_ERROR(this->get_logger(), "[server] Capability usage failed with error: %s", e.what());
    -
    266 current_plan_.status = PlanStatus::CAPABILITY_START_FAILED;
    -
    267
    -
    268 capability_client_->free_capabilities(current_plan_);
    -
    269 continue;
    -
    270 }
    -
    271
    -
    272 // connect the capabilities as per the plan
    -
    273 try
    -
    274 {
    -
    275 RCLCPP_INFO(this->get_logger(), "[server] Connecting capabilities as per the plan.");
    -
    276 current_plan_.status = PlanStatus::CAPABILITY_CONNECTING;
    -
    277
    -
    278 capability_client_->connect_capabilities(current_plan_);
    -
    279 }
    -
    280 catch (const fabric::fabric_exception& e)
    -
    281 {
    -
    282 RCLCPP_ERROR(this->get_logger(), "[server] Capability connection failed with error: %s", e.what());
    -
    283 current_plan_.status = PlanStatus::CAPABILITY_CONNECT_FAILED;
    -
    284
    -
    285 capability_client_->free_capabilities(current_plan_);
    -
    286 continue;
    -
    287 }
    -
    288
    -
    289 RCLCPP_INFO(this->get_logger(), "[server] Capabilities connected successfully.");
    -
    290
    -
    291 // trigger the first capability in the plan
    -
    292 try
    -
    293 {
    -
    294 RCLCPP_INFO(this->get_logger(), "[server] Triggering the first capability in the plan.");
    -
    295 current_plan_.status = PlanStatus::RUNNING;
    -
    296
    -
    297 capability_client_->trigger_first_node(current_plan_);
    -
    298 }
    -
    299 catch (const fabric::fabric_exception& e)
    -
    300 {
    -
    301 RCLCPP_ERROR(this->get_logger(), "[server] Capability trigger failed with error: %s", e.what());
    -
    302 }
    -
    303
    -
    304 RCLCPP_INFO(this->get_logger(), "[server] First capability triggered successfully.");
    -
    305
    -
    306 // wait for the plan to complete
    -
    307 {
    -
    308 std::unique_lock<std::mutex> lock(plan_mutex_);
    -
    309 plan_cv_.wait(lock, [this]() { return plan_completed_; });
    -
    310 }
    -
    311
    -
    312 if (current_plan_.status == PlanStatus::CANCELLED)
    -
    313 {
    -
    314 RCLCPP_INFO(this->get_logger(), "[server] Fabric plan cancelled. Releasing capabilities.");
    -
    315 capability_client_->free_capabilities(current_plan_);
    -
    316 continue;
    -
    317 }
    -
    318
    -
    319 current_plan_.status = PlanStatus::COMPLETED;
    -
    320 RCLCPP_INFO(this->get_logger(), "[server] Fabric processing completed. Waiting for next plan.");
    -
    321 }
    -
    322 }
    -
    -
    323
    -
    -
    327 void setPlanCallback(const std::shared_ptr<SetFabricPlan::Request> request, std::shared_ptr<SetFabricPlan::Response> response)
    -
    328 {
    -
    329 RCLCPP_INFO(this->get_logger(), "[server] Received the request with a plan");
    -
    330
    -
    331 fabric::Plan new_plan;
    -
    332 new_plan.plan = request->plan;
    -
    333 new_plan.plan_id = generate_uuid();
    -
    334 new_plan.status = PlanStatus::QUEUED;
    -
    335
    -
    336 if (!parsing_plugin_->check_compatibility(new_plan))
    -
    337 {
    -
    338 RCLCPP_ERROR(this->get_logger(), "[server] Plan received via service request not compatible with the loaded parser.");
    -
    339 response->plan_id = "";
    -
    340 response->error = "[server] Plan is not compatible with the loaded parser.";
    -
    341 return;
    -
    342 }
    -
    343 RCLCPP_INFO(this->get_logger(), "[server] Plan accepted from service request message");
    -
    344
    -
    345 plan_queue_.push_back(new_plan);
    -
    346 response->plan_id = new_plan.plan_id;
    -
    347 }
    -
    -
    348
    -
    -
    352 void cancelPlanCallback(const std::shared_ptr<CancelFabricPlan::Request> request, std::shared_ptr<CancelFabricPlan::Response> response)
    -
    353 {
    -
    354 RCLCPP_INFO(this->get_logger(), "[server] Plan cancelling requested");
    -
    355 std::string plan_id = request->plan_id;
    -
    356 std::string bond_id_to_cancel;
    -
    357 bool found = false;
    -
    358
    -
    359 // search for the bond id associated with the plan id from current plan or plan queue
    -
    360 if (current_plan_.plan_id == plan_id)
    -
    361 {
    -
    362 current_plan_.status = PlanStatus::CANCELLED;
    -
    363 bond_id_to_cancel = current_plan_.bond_id;
    -
    364 plan_completed_ = true;
    -
    365 plan_cv_.notify_all();
    -
    366 found = true;
    -
    367 }
    -
    368 else
    -
    369 {
    -
    370 for (auto& plan : plan_queue_)
    -
    371 {
    -
    372 if (plan.plan_id == plan_id)
    -
    373 {
    -
    374 plan.status = PlanStatus::CANCELLED;
    -
    375 bond_id_to_cancel = plan.bond_id;
    -
    376 found = true;
    -
    377 break;
    -
    378 }
    -
    379 }
    -
    380 }
    -
    381
    -
    382 // if bond id is found, break the bond and cancel the plan
    -
    383 if (!bond_id_to_cancel.empty())
    -
    384 {
    -
    385 RCLCPP_INFO(this->get_logger(), "[server] Cancelling plan with id: %s", plan_id.c_str());
    -
    386
    -
    387 for (auto& [bond_id, bond_client] : bond_client_cache_)
    -
    388 {
    -
    389 if (bond_id == bond_id_to_cancel)
    -
    390 {
    -
    391 bond_client->stop();
    -
    392 RCLCPP_INFO(this->get_logger(), "[server] Bond with id : %s stopped", bond_id.c_str());
    -
    393 break;
    -
    394 }
    -
    395 }
    -
    396 }
    -
    397
    -
    398 response->success = found;
    -
    399 }
    -
    -
    400
    -
    -
    404 void setCompleteCallback(const std::shared_ptr<CompleteFabric::Request> request, std::shared_ptr<CompleteFabric::Response> response)
    -
    405 {
    -
    406 // mark the plan as completed using plan id
    -
    407 RCLCPP_INFO(this->get_logger(), "[server] Plan completion received for plan id: %s", request->plan_id.c_str());
    -
    408
    -
    409 if (current_plan_.plan_id != request->plan_id)
    -
    410 {
    -
    411 RCLCPP_WARN(this->get_logger(), "[server] Received plan id does not match the current plan id");
    -
    412 }
    -
    413 else
    -
    414 {
    -
    415 RCLCPP_INFO(this->get_logger(), "[server] Current plan id matches the received plan id. Proceeding to complete the plan.");
    -
    416 plan_completed_ = true;
    -
    417 plan_cv_.notify_all();
    -
    418 }
    -
    419 }
    -
    -
    420
    -
    -
    424 void getPlanStatusCallback(const std::shared_ptr<GetPlanStatus::Request> request, std::shared_ptr<GetPlanStatus::Response> response)
    -
    425 {
    -
    426 response->header.stamp = this->now();
    -
    427
    -
    428 // Search current plan
    -
    429 if (current_plan_.plan_id == request->plan_id)
    -
    430 {
    -
    431 response->status = status_msg(current_plan_.status);
    -
    432
    -
    433 if (current_plan_.status == PlanStatus::VALIDATION_FAILED || current_plan_.status == PlanStatus::PARSE_FAILED)
    -
    434 response->rejected_list = current_plan_.rejected_list;
    -
    435
    -
    436 return;
    -
    437 }
    -
    438
    -
    439 // Search plan queue
    -
    440 for (const auto& plan : plan_queue_)
    -
    441 {
    -
    442 if (plan.plan_id == request->plan_id)
    -
    443 {
    -
    444 response->status = status_msg(plan.status);
    -
    445
    -
    446 if (plan.status == PlanStatus::VALIDATION_FAILED || plan.status == PlanStatus::PARSE_FAILED)
    -
    447 response->rejected_list = plan.rejected_list;
    -
    448
    -
    449 return;
    -
    450 }
    -
    451 }
    -
    452
    -
    453 // Not found
    -
    454 response->status.code = fabric_msgs::msg::FabricStatus::UNKNOWN;
    -
    455 response->rejected_list.clear();
    -
    456 }
    -
    -
    457
    -
    -
    461 fabric_msgs::msg::FabricStatus status_msg(PlanStatus status) const
    -
    462 {
    -
    463 fabric_msgs::msg::FabricStatus status_msg;
    -
    464 switch (status)
    -
    465 {
    -
    466 case PlanStatus::UNKNOWN:
    -
    467 status_msg.code = fabric_msgs::msg::FabricStatus::UNKNOWN;
    -
    468 break;
    -
    469 case PlanStatus::QUEUED:
    -
    470 status_msg.code = fabric_msgs::msg::FabricStatus::QUEUED;
    -
    471 break;
    -
    472 case PlanStatus::PARSING:
    -
    473 status_msg.code = fabric_msgs::msg::FabricStatus::PARSING;
    -
    474 break;
    -
    475 case PlanStatus::PARSE_FAILED:
    -
    476 status_msg.code = fabric_msgs::msg::FabricStatus::PARSE_FAILED;
    -
    477 break;
    -
    478 case PlanStatus::VALIDATING:
    -
    479 status_msg.code = fabric_msgs::msg::FabricStatus::VALIDATING;
    -
    480 break;
    -
    481 case PlanStatus::VALIDATION_FAILED:
    -
    482 status_msg.code = fabric_msgs::msg::FabricStatus::VALIDATION_FAILED;
    -
    483 break;
    -
    484 case PlanStatus::BONDING:
    -
    485 status_msg.code = fabric_msgs::msg::FabricStatus::BONDING;
    -
    486 break;
    -
    487 case PlanStatus::BOND_FAILED:
    -
    488 status_msg.code = fabric_msgs::msg::FabricStatus::BOND_FAILED;
    -
    489 break;
    -
    490 case PlanStatus::CAPABILITY_STARTING:
    -
    491 status_msg.code = fabric_msgs::msg::FabricStatus::CAPABILITY_STARTING;
    -
    492 break;
    -
    493 case PlanStatus::CAPABILITY_START_FAILED:
    -
    494 status_msg.code = fabric_msgs::msg::FabricStatus::CAPABILITY_START_FAILED;
    -
    495 break;
    -
    496 case PlanStatus::CAPABILITY_CONNECTING:
    -
    497 status_msg.code = fabric_msgs::msg::FabricStatus::CAPABILITY_CONNECTING;
    -
    498 break;
    -
    499 case PlanStatus::CAPABILITY_CONNECT_FAILED:
    -
    500 status_msg.code = fabric_msgs::msg::FabricStatus::CAPABILITY_CONNECT_FAILED;
    -
    501 break;
    -
    502 case PlanStatus::RUNNING:
    -
    503 status_msg.code = fabric_msgs::msg::FabricStatus::RUNNING;
    -
    504 break;
    -
    505 case PlanStatus::COMPLETED:
    -
    506 status_msg.code = fabric_msgs::msg::FabricStatus::COMPLETED;
    -
    507 break;
    -
    508 case PlanStatus::CANCELLED:
    -
    509 status_msg.code = fabric_msgs::msg::FabricStatus::CANCELLED;
    -
    510 break;
    -
    511 default:
    -
    512 status_msg.code = fabric_msgs::msg::FabricStatus::UNKNOWN;
    -
    513 break;
    -
    514 }
    -
    515 return status_msg;
    -
    516 }
    -
    -
    -
    520 static std::string generate_uuid()
    -
    521 {
    -
    522 uuid_t uuid;
    -
    523 uuid_generate_random(uuid);
    -
    524 char uuid_str[40];
    -
    525 uuid_unparse(uuid, uuid_str);
    -
    526 return std::string(uuid_str);
    -
    527 }
    -
    -
    528
    -
    -
    533 void reset()
    -
    534 {
    -
    535 current_plan_ = fabric::Plan();
    -
    536 capability_list_.clear();
    -
    537 bond_id_.clear();
    -
    538 plan_completed_ = false;
    -
    539 }
    -
    -
    540
    -
    542 std::deque<fabric::Plan> plan_queue_;
    -
    543
    -
    545 fabric::Plan current_plan_;
    -
    546
    -
    548 bool plan_completed_;
    -
    549 std::mutex plan_mutex_;
    -
    550 std::condition_variable plan_cv_;
    -
    551
    -
    553 std::shared_ptr<CapabilityClient> capability_client_;
    -
    554
    -
    556 std::vector<CapabilityInfo> capability_list_;
    -
    557
    -
    559 pluginlib::ClassLoader<fabric::ValidationBase> validation_loader_;
    -
    560 pluginlib::ClassLoader<fabric::ParserBase> parsing_loader_;
    -
    561
    -
    563 std::shared_ptr<fabric::ParserBase> parsing_plugin_;
    -
    564
    -
    566 std::shared_ptr<fabric::ValidationBase> compatibility_validation_plugin_;
    -
    567
    -
    569 std::string bond_id_;
    -
    570
    -
    572 std::map<std::string, std::shared_ptr<BondClient>> bond_client_cache_;
    -
    573
    -
    575 std::string plan_file_path_;
    -
    576
    -
    578 rclcpp::Service<SetFabricPlan>::SharedPtr plan_server_;
    -
    579
    -
    581 rclcpp::Service<CancelFabricPlan>::SharedPtr cancel_server_;
    -
    582
    -
    584 rclcpp::Service<CompleteFabric>::SharedPtr completion_server_;
    -
    585
    -
    587 rclcpp::Service<GetPlanStatus>::SharedPtr get_plan_status_server_;
    -
    588
    -
    590 std::thread process_thread;
    -
    591
    -
    592}; // class Fabric
    -
    -
    593
    -
    594} // namespace fabric
    -
    bond_client.hpp
    -
    capability_client.hpp
    -
    fabric::Fabric
    Class representing the main server of the fabric.
    Definition server.hpp:36
    -
    fabric::Fabric::parsing_plugin_
    std::shared_ptr< fabric::ParserBase > parsing_plugin_
    Definition server.hpp:563
    -
    fabric::Fabric::capability_list_
    std::vector< CapabilityInfo > capability_list_
    Definition server.hpp:556
    -
    fabric::Fabric::compatibility_validation_plugin_
    std::shared_ptr< fabric::ValidationBase > compatibility_validation_plugin_
    Definition server.hpp:566
    -
    fabric::Fabric::CompleteFabric
    fabric_msgs::srv::CompleteFabric CompleteFabric
    Definition server.hpp:40
    -
    fabric::Fabric::getPlanStatusCallback
    void getPlanStatusCallback(const std::shared_ptr< GetPlanStatus::Request > request, std::shared_ptr< GetPlanStatus::Response > response)
    Callback function to get the status of a fabric plan.
    Definition server.hpp:424
    -
    fabric::Fabric::validation_loader_
    pluginlib::ClassLoader< fabric::ValidationBase > validation_loader_
    Definition server.hpp:559
    -
    fabric::Fabric::bond_id_
    std::string bond_id_
    Definition server.hpp:569
    -
    fabric::Fabric::plan_completed_
    bool plan_completed_
    Definition server.hpp:548
    -
    fabric::Fabric::Fabric
    Fabric(const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
    Construct a new Fabric object.
    Definition server.hpp:48
    -
    fabric::Fabric::bond_client_cache_
    std::map< std::string, std::shared_ptr< BondClient > > bond_client_cache_
    Definition server.hpp:572
    -
    fabric::Fabric::process
    void process()
    The main process thread of the fabric.
    Definition server.hpp:157
    -
    fabric::Fabric::cancelPlanCallback
    void cancelPlanCallback(const std::shared_ptr< CancelFabricPlan::Request > request, std::shared_ptr< CancelFabricPlan::Response > response)
    Callback function to cancel a fabric plan.
    Definition server.hpp:352
    -
    fabric::Fabric::generate_uuid
    static std::string generate_uuid()
    Generate a UUID string for plan tracking.
    Definition server.hpp:520
    -
    fabric::Fabric::current_plan_
    fabric::Plan current_plan_
    Definition server.hpp:545
    -
    fabric::Fabric::reset
    void reset()
    Reset internal data structures for processing a new plan.
    Definition server.hpp:533
    -
    fabric::Fabric::CancelFabricPlan
    fabric_msgs::srv::CancelFabricPlan CancelFabricPlan
    Definition server.hpp:39
    -
    fabric::Fabric::plan_cv_
    std::condition_variable plan_cv_
    Definition server.hpp:550
    -
    fabric::Fabric::capability_client_
    std::shared_ptr< CapabilityClient > capability_client_
    Definition server.hpp:553
    -
    fabric::Fabric::setPlanCallback
    void setPlanCallback(const std::shared_ptr< SetFabricPlan::Request > request, std::shared_ptr< SetFabricPlan::Response > response)
    Callback function to set a new fabric plan.
    Definition server.hpp:327
    -
    fabric::Fabric::GetPlanStatus
    fabric_msgs::srv::GetPlanStatus GetPlanStatus
    Definition server.hpp:41
    -
    fabric::Fabric::cancel_server_
    rclcpp::Service< CancelFabricPlan >::SharedPtr cancel_server_
    Definition server.hpp:581
    -
    fabric::Fabric::plan_server_
    rclcpp::Service< SetFabricPlan >::SharedPtr plan_server_
    Definition server.hpp:578
    -
    fabric::Fabric::plan_queue_
    std::deque< fabric::Plan > plan_queue_
    Definition server.hpp:542
    -
    fabric::Fabric::completion_server_
    rclcpp::Service< CompleteFabric >::SharedPtr completion_server_
    Definition server.hpp:584
    -
    fabric::Fabric::setCompleteCallback
    void setCompleteCallback(const std::shared_ptr< CompleteFabric::Request > request, std::shared_ptr< CompleteFabric::Response > response)
    Callback function to set the completion of a fabric plan.
    Definition server.hpp:404
    -
    fabric::Fabric::SetFabricPlan
    fabric_msgs::srv::SetFabricPlan SetFabricPlan
    Definition server.hpp:38
    -
    fabric::Fabric::status_msg
    fabric_msgs::msg::FabricStatus status_msg(PlanStatus status) const
    Convert internal plan status to fabric_msgs/PlanStatus message.
    Definition server.hpp:461
    -
    fabric::Fabric::get_plan_status_server_
    rclcpp::Service< GetPlanStatus >::SharedPtr get_plan_status_server_
    Definition server.hpp:587
    -
    fabric::Fabric::initialize
    void initialize()
    Initialize the Fabric node, action server and event client.
    Definition server.hpp:71
    -
    fabric::Fabric::plan_file_path_
    std::string plan_file_path_
    Definition server.hpp:575
    -
    fabric::Fabric::process_thread
    std::thread process_thread
    Definition server.hpp:590
    -
    fabric::Fabric::plan_mutex_
    std::mutex plan_mutex_
    Definition server.hpp:549
    -
    fabric::Fabric::parsing_loader_
    pluginlib::ClassLoader< fabric::ParserBase > parsing_loader_
    Definition server.hpp:560
    -
    fabric
    Definition parser_base.hpp:9
    -
    fabric::PlanStatus
    PlanStatus
    Definition structs.hpp:51
    - - - - - - - - - - - - - - - -
    parser_base.hpp
    -
    fabric::Plan
    Definition structs.hpp:70
    -
    fabric::Plan::rejected_list
    std::vector< std::string > rejected_list
    Definition structs.hpp:75
    -
    fabric::Plan::status
    PlanStatus status
    Definition structs.hpp:76
    -
    fabric::Plan::plan
    std::string plan
    Definition structs.hpp:72
    -
    fabric::Plan::plan_id
    std::string plan_id
    Definition structs.hpp:71
    -
    fabric::Plan::bond_id
    std::string bond_id
    Definition structs.hpp:73
    -
    fabric::fabric_exception
    Base class for driver exceptions.
    Definition exception.hpp:14
    -
    fabric::fabric_exception::what
    virtual const char * what() const noexcept override
    Definition exception.hpp:21
    - -
    validation_base.hpp
    -
    xml_helper.hpp
    -
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    server_component.cpp File Reference
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    #include <fabric_server/server.hpp>
    -#include <rclcpp_components/register_node_macro.hpp>
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    #include <fabric_server/server.hpp>
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    std::string plan_id
     
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    Structure representing connections between nodes.

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    This is the complete list of members for fabric::fabric_exception, including all inherited members.

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    fabric_exception(const std::string &what)fabric::fabric_exceptioninline
    what() const noexcept overridefabric::fabric_exceptioninlinevirtual
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    #include <exception.hpp>

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     fabric_exception (const std::string &what)
     
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    Base class for driver exceptions.

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    ◆ what()

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    struct  fabric::node
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    enum  fabric::event { fabric::ON_START -, fabric::ON_SUCCESS -, fabric::ON_FAILURE -, fabric::ON_STOP - }
     Enumeration for different event types in connections. More...
     
    enum class  fabric::PlanStatus {
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    -
    structs.hpp
    -
    -
    -Go to the documentation of this file.
    1#pragma once
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    2
    -
    3#include <map>
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    4#include <string>
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    5#include <vector>
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    6#include <capabilities2_events/event_parameters.hpp>
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    7
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    8namespace fabric
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    9{
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    10
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    -
    14enum event
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    15{
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    16 ON_START,
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    17 ON_SUCCESS,
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    18 ON_FAILURE,
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    19 ON_STOP
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    20};
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    21
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    -
    25struct node
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    26{
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    27 std::string interface = "";
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    28 std::string provider = "";
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    29 capabilities2_events::EventParameters parameters;
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    30 int instance_id = -1;
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    31
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    32 bool exists() const
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    33 {
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    34 return (!interface.empty() && !provider.empty());
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    35 }
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    36};
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    37
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    50
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    68
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    69struct Plan
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    70{
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    71 std::string plan_id;
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    72 std::string plan;
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    73 std::string bond_id;
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    74 std::map<int, connection> connections;
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    75 std::vector<std::string> rejected_list;
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    76 PlanStatus status = PlanStatus::UNKNOWN;
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    77};
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    78
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    79struct CapabilityInfo
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    80{
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    81 std::string interface;
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    82 std::string provider;
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    83 bool is_semantic;
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    84 std::vector<std::string> alt_providers;
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    85};
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    86
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    87} // namespace fabric
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    fabric
    Definition parser_base.hpp:9
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    fabric::ON_START
    @ ON_START
    Definition structs.hpp:16
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    fabric::ON_FAILURE
    @ ON_FAILURE
    Definition structs.hpp:18
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    fabric::ON_SUCCESS
    @ ON_SUCCESS
    Definition structs.hpp:17
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    fabric::ON_STOP
    @ ON_STOP
    Definition structs.hpp:19
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    fabric::PlanStatus
    PlanStatus
    Definition structs.hpp:51
    - - - - - - - - - - - - - - - -
    fabric::CapabilityInfo
    Definition structs.hpp:80
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    fabric::CapabilityInfo::interface
    std::string interface
    Definition structs.hpp:81
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    fabric::CapabilityInfo::alt_providers
    std::vector< std::string > alt_providers
    Definition structs.hpp:84
    -
    fabric::CapabilityInfo::provider
    std::string provider
    Definition structs.hpp:82
    -
    fabric::CapabilityInfo::is_semantic
    bool is_semantic
    Definition structs.hpp:83
    -
    fabric::Plan
    Definition structs.hpp:70
    -
    fabric::Plan::rejected_list
    std::vector< std::string > rejected_list
    Definition structs.hpp:75
    -
    fabric::Plan::status
    PlanStatus status
    Definition structs.hpp:76
    -
    fabric::Plan::connections
    std::map< int, connection > connections
    Definition structs.hpp:74
    -
    fabric::Plan::plan
    std::string plan
    Definition structs.hpp:72
    -
    fabric::Plan::plan_id
    std::string plan_id
    Definition structs.hpp:71
    -
    fabric::Plan::bond_id
    std::string bond_id
    Definition structs.hpp:73
    -
    fabric::connection
    Structure representing connections between nodes.
    Definition structs.hpp:42
    -
    fabric::connection::description
    std::string description
    Definition structs.hpp:48
    -
    fabric::connection::on_success
    node on_success
    Definition structs.hpp:46
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    fabric::connection::on_start
    node on_start
    Definition structs.hpp:44
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    fabric::connection::source
    node source
    Definition structs.hpp:43
    -
    fabric::connection::on_failure
    node on_failure
    Definition structs.hpp:47
    -
    fabric::connection::on_stop
    node on_stop
    Definition structs.hpp:45
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    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
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    fabric::node::provider
    std::string provider
    Definition structs.hpp:28
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    fabric::node::interface
    std::string interface
    Definition structs.hpp:27
    -
    fabric::node::exists
    bool exists() const
    Definition structs.hpp:32
    -
    fabric::node::parameters
    capabilities2_events::EventParameters parameters
    Definition structs.hpp:29
    -
    fabric::node::instance_id
    int instance_id
    Definition structs.hpp:30
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    class  fabric::ValidationBase
     Abstract base class for XML plan validation plugins. More...
     
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    namespace  fabric
     
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z;UaKdr=klfC1I8N{~lu?<=d+KSc~WQ+|B - - - - - - -Fabric: fabric_base/include/fabric_base/validation_base.hpp Source File - - - - - - - - - -
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    validation_base.hpp
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    1#pragma once
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    2#include <any>
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    3#include <string>
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    4#include <vector>
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    5#include <rclcpp/rclcpp.hpp>
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    6#include <fabric_base/utils/structs.hpp>
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    7#include <fabric_base/utils/xml_helper.hpp>
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    8#include <fabric_base/utils/exception.hpp>
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    9
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    10namespace fabric
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    11{
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    12
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    18class ValidationBase
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    19{
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    20public:
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    21 virtual ~ValidationBase() = default;
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    22
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    28 virtual void initialize(const rclcpp::Node::SharedPtr& node)
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    29 {
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    30 initialize_base(node, "ValidationBasePlugin");
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    31 }
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    32
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    39 virtual void validate(fabric::Plan& plan, std::vector<CapabilityInfo>& capabilities) = 0;
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    40
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    41protected:
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    48 void initialize_base(const rclcpp::Node::SharedPtr& node, const std::string& plugin_name)
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    49 {
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    50 node_ = node;
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    51 plugin_name_ = plugin_name;
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    52 }
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    53
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    57 rclcpp::Node::SharedPtr node_;
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    58
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    62 std::string plugin_name_;
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    63};
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    64
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    65} // namespace fabric
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    fabric::ValidationBase
    Abstract base class for XML plan validation plugins.
    Definition validation_base.hpp:19
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    fabric::ValidationBase::node_
    rclcpp::Node::SharedPtr node_
    Shared pointer to the ROS2 node.
    Definition validation_base.hpp:57
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    fabric::ValidationBase::plugin_name_
    std::string plugin_name_
    Name of the validation plugin.
    Definition validation_base.hpp:62
    -
    fabric::ValidationBase::initialize
    virtual void initialize(const rclcpp::Node::SharedPtr &node)
    Initialize the validation plugin with the given ROS2 node.
    Definition validation_base.hpp:28
    -
    fabric::ValidationBase::validate
    virtual void validate(fabric::Plan &plan, std::vector< CapabilityInfo > &capabilities)=0
    Validate the given XML plan.
    -
    fabric::ValidationBase::initialize_base
    void initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
    Base initialization method for derived classes.
    Definition validation_base.hpp:48
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    fabric::ValidationBase::~ValidationBase
    virtual ~ValidationBase()=default
    - -
    fabric
    Definition parser_base.hpp:9
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    fabric::Plan
    Definition structs.hpp:70
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    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
    - -
    xml_helper.hpp
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    - - diff --git a/docs/html/validation__plugins_8md.html b/docs/html/validation__plugins_8md.html deleted file mode 100644 index d9a3d98..0000000 --- a/docs/html/validation__plugins_8md.html +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - - -Fabric: docs/validation_plugins.md File Reference - - - - - - - - - -
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    - - diff --git a/docs/html/validators_8cpp.html b/docs/html/validators_8cpp.html deleted file mode 100644 index 1666b25..0000000 --- a/docs/html/validators_8cpp.html +++ /dev/null @@ -1,137 +0,0 @@ - - - - - - - -Fabric: fabric_validator/src/validators.cpp File Reference - - - - - - - - - -
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    validators.cpp File Reference
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    #include <fabric_validator/compatibility_plugin.hpp>
    -#include <pluginlib/class_list_macros.hpp>
    -
    -Include dependency graph for validators.cpp:
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    xml_helper.hpp File Reference
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    #include <map>
    -#include <vector>
    -#include <algorithm>
    -#include <string>
    -#include <tinyxml2.h>
    -#include <fabric_base/utils/structs.hpp>
    -#include <fabric_base/utils/exception.hpp>
    -
    -Include dependency graph for xml_helper.hpp:
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    namespace  fabric
     
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    -Functions

    bool fabric::search (std::vector< std::string > list, std::string value)
     search a string in a vector of strings
     
    tinyxml2::XMLElement * fabric::extract_plan (tinyxml2::XMLDocument &document)
     Extract the <Plan> element from the XML document.
     
    bool fabric::convert_to_string (tinyxml2::XMLElement *element, std::string &parameters)
     convert XMLElement to std::string
     
    void fabric::convert_to_string (tinyxml2::XMLDocument &document_xml, std::string &document_string)
     convert XMLDocument to std::string
     
    bool fabric::check_syntax (tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
     check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan
     
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    -Generated by doxygen 1.9.8 -
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zz{D*ab$ILerB$>TdN+d9->wMs!~aAq(~(|>)ZbquNK*`!plHhG{O?~xNb2+F&m$ms z26YDz{_p17!O9{62te2_(kdYzra3}G4I2S>?Rt7((c0PykIMr3U&xU?IB;2Cfc3u< zQSeNv=QJlbcNTnxEi5deXhq`yLUDB%Bg#I_&D3>z(dp?lP`ZPT&!?huFt|k;QTL6E z=u=ZuK`x1lZ5YJ*UIWNOlq(Qdc6ct2JN)iK=!Y~(&SUVD)UqYt&$@i^+b@frW<>b` z`W3NBNpkk~w;;c+gGQL6KtNRSakth|+Qjj-(lOVtNVJt zK=OVCdQs3f#-8NW{R^2a@h|ya2S+w4amd{JC0Iqnu~vja7O;of4i3ZJXQV|0W`k6GoU?qi&o|SLmR3M*4M1TgwkOTCr#KL z9^INI>P`TL_44MX0>CZ>Rn>>NpFmM0xUKE3ii!%iZgmiJ3@|K2*P-!&eb3pMA9Mnl zMH(+~I*Jc)ppz~lE{+JRy?FUj6pFK(bzQLwjet;xNJ_f9rE{~ZYHJblHo$YeRE|5` zOOuiWnig=9p~iUs;R69ga%gK*)zz(oSXnOoJ%d)S{lK&Qw^ufm9xUFWzCj(0qpz=T zXK%lMe7sTC@I_$O^Hv*0!P)1Gc8UT}Wut@q3mIr&bkqW*8w8w52u8ZQu^=F@W=0cA zySZ-@XS}C9UgD(ard{$qya9b`j4hH5a&mGM%^}UWP2J4g95E@W3>*SKKR>{Lhp^6E zN-oNY!cQCBJ`4>-q@|@jwCRD$w$yifc{u=*EbMor6^eAu5mC&9#6)KR4;b)jz)tJS z?5ysoUd41ex&X?cp=s*qf=@0o(Q>)9!wY`a0}BE-e$Z1=%0mGUQ3EjU3ZUA@k5kkQ zcdfSCo|Ze_SWgrGGIdBR$&sko3;lTumz-NNN^tv7R;&8xJiuiVi^3OoCRx3|`TH5z zk}898pPJOwy0g zMZESH5y3JL{%LG#GO@7eWq?K<`2!OvWhzbO-%35_O5c*KOL$w{fAm3|OSxl9e&@~| z-;+9*k#*mVd0#pbpKl!b# z832tDQ3yB@2?Bsz0Pfd7rmxkzb>pREie@`2#3bmMIPWZo{(9CnyZsm%P`$mq3ysb% z5uGa#wpm+Um3DW(1M7w$m+x+3kPG_(8|X<)_ayN5YIWS6+6mnpMuh9&4UW2zkqU$f zvCOgWn+wn(9p^a9;2iy3*3=IhAD3w^QhDJ$33A4V1Qd!?m8yJ>9q_JQgB@lCo#vkl zP4P?rE{^5aVNVYZ3@n3)U?-^X1r9fugW%e`$5mK>>}rz#sel1IG?4j05(Mg@UdRZT zDPry@C}$v!udS^;fRq6t#U^s&S&BeG$^`Fm!yl6~7s#fFwk(`$qi36}P#iIMUv+nV zZoA`*Jjt-5agzzmS{#KdA3elO#R38XFmiHoCfFEoC?C;Us@Gmp5)1fz za}#6BeccVi{?Rxl?2L5F<3yhJT- zD`k>N_aW}H(xjh0S)_u(%q{%b0GCN-nEKIzo7mzy+zhJ}CkaueO7d*dhEB28U}9n- z8#Y=ZT&qOLXXZ$a{?2uOeI*qYHUWX^K{L>M1=Z9|{%LtPA=SAPJ4O9hOPPTxg~P3o z50hI&Peh8eP{`*Vm4^~ar<9r*dSCk#z)eJ)IlA^(nj5+2a)lT1xX9hZRa{{w5&qwg zLEo3nSK0pW{{|7#WhgKF_hZgWTOqmtLb@) - - - - - - -Fabric: fabric_base/include/fabric_base/utils/xml_helper.hpp Source File - - - - - - - - - -

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    xml_helper.hpp
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    -Go to the documentation of this file.
    1#pragma once
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    2
    -
    3#include <map>
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    4#include <vector>
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    5#include <algorithm>
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    6#include <string>
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    7#include <tinyxml2.h>
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    8
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    9#include <fabric_base/utils/structs.hpp>
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    10#include <fabric_base/utils/exception.hpp>
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    11
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    12namespace fabric
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    13{
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    22bool search(std::vector<std::string> list, std::string value)
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    23{
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    24 return (std::find(list.begin(), list.end(), value) != list.end());
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    25}
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    26
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    36tinyxml2::XMLElement* extract_plan(tinyxml2::XMLDocument& document)
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    37{
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    38 std::string plan_tag(document.FirstChildElement()->Name());
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    39
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    40 if (plan_tag == "Plan")
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    41 return document.FirstChildElement("Plan")->FirstChildElement();
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    42 else
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    43 return nullptr;
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    44}
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    45
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    54inline bool convert_to_string(tinyxml2::XMLElement* element, std::string& parameters)
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    55{
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    56 if (element)
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    57 {
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    58 tinyxml2::XMLPrinter printer;
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    59 element->Accept(&printer);
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    60 parameters = printer.CStr();
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    61 return true;
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    62 }
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    63 else
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    64 {
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    65 parameters = "";
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    66 return false;
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    67 }
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    68}
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    69
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    77void convert_to_string(tinyxml2::XMLDocument& document_xml, std::string& document_string)
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    78{
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    79 tinyxml2::XMLPrinter printer;
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    80 document_xml.Print(&printer);
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    81 document_string = printer.CStr();
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    82}
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    83
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    95bool check_syntax(tinyxml2::XMLElement* element, std::vector<std::string>& control_list, std::vector<std::string>& rejected, std::string& error)
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    96{
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    97 const char* type = nullptr;
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    98 const char* interface = nullptr;
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    99 const char* provider = nullptr;
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    100
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    101 std::string elementTag(element->Name());
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    102
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    103 std::string parameter_string;
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    104 convert_to_string(element, parameter_string);
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    105
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    106 bool returnValue = true;
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    107
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    108 std::string typetag = "";
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    109 std::string interfacetag = "";
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    110 std::string providertag = "";
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    111
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    112 bool hasChildren = !element->NoChildren();
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    113 bool hasSiblings = (element->NextSiblingElement() != nullptr);
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    114
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    115 if (elementTag == "Control")
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    116 {
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    117 element->QueryStringAttribute("type", &type);
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    118
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    119 if (type)
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    120 {
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    121 typetag = type;
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    122
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    123 if (!search(control_list, typetag))
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    124 {
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    125 error = "Control tag '" + typetag + "' not available in the valid list";
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    126 rejected.push_back(parameter_string);
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    127 return false;
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    128 }
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    129 }
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    130 else
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    131 {
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    132 error = "Control tag missing 'type' attribute: " + parameter_string;
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    133 rejected.push_back(parameter_string);
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    134 return false;
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    135 }
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    136
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    137 if (hasChildren)
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    138 returnValue &= check_syntax(element->FirstChildElement(), control_list, rejected, error);
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    139
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    140 if (hasSiblings)
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    141 returnValue &= check_syntax(element->NextSiblingElement(), control_list, rejected, error);
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    142 }
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    143 else if (elementTag == "Runner")
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    144 {
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    145 element->QueryStringAttribute("interface", &interface);
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    146 element->QueryStringAttribute("provider", &provider);
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    147
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    148 if (not interface)
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    149 {
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    150 error = "Runner tag missing 'interface' attribute: " + parameter_string;
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    151 rejected.push_back(parameter_string);
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    152 return false;
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    153 }
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    154
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    155 if (not provider)
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    156 {
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    157 error = "Runner tag missing 'provider' attribute: " + parameter_string;
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    158 rejected.push_back(parameter_string);
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    159 return false;
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    160 }
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    161
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    162 if (hasSiblings)
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    163 returnValue &= check_syntax(element->NextSiblingElement(), control_list, rejected, error);
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    164 }
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    165 else
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    166 {
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    167 error = "XML element is not valid :" + parameter_string;
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    168 rejected.push_back(parameter_string);
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    169 return false;
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    170 }
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    171
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    172 return returnValue;
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    173}
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    174
    -
    175} // namespace fabric
    - -
    fabric
    Definition parser_base.hpp:9
    -
    fabric::extract_plan
    tinyxml2::XMLElement * extract_plan(tinyxml2::XMLDocument &document)
    Extract the <Plan> element from the XML document.
    Definition xml_helper.hpp:36
    -
    fabric::check_syntax
    bool check_syntax(tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
    check the plan to make sure all control and runner XML elements are valid with minimal required attri...
    Definition xml_helper.hpp:95
    -
    fabric::search
    bool search(std::vector< std::string > list, std::string value)
    search a string in a vector of strings
    Definition xml_helper.hpp:22
    -
    fabric::convert_to_string
    bool convert_to_string(tinyxml2::XMLElement *element, std::string &parameters)
    convert XMLElement to std::string
    Definition xml_helper.hpp:54
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    - - diff --git a/docs/html/xml__parser__plugin_8hpp.html b/docs/html/xml__parser__plugin_8hpp.html deleted file mode 100644 index 0d3e631..0000000 --- a/docs/html/xml__parser__plugin_8hpp.html +++ /dev/null @@ -1,168 +0,0 @@ - - - - - - - -Fabric: fabric_parser_xml/include/fabric_parser_xml/xml_parser_plugin.hpp File Reference - - - - - - - - - -
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    xml_parser_plugin.hpp File Reference
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    #include <cerrno>
    -#include <cstdlib>
    -#include <string>
    -#include <vector>
    -#include <tinyxml2.h>
    -#include <rclcpp/rclcpp.hpp>
    -#include <fabric_base/parser_base.hpp>
    -#include <capabilities2_events/event_parameters.hpp>
    -
    -Include dependency graph for xml_parser_plugin.hpp:
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    -Classes

    class  fabric::XMLParser
     Syntax validation plugin for XML plans. More...
     
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    namespace  fabric
     
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    -Generated by doxygen 1.9.8 -
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zNIsep_{p^1fD~5BYov*Z<&9@SW9m%RUD1L?Sy{xvb23>Y%Q10rm+X>NGg_c^*~pwp zy1_m5@7g20X~tpDPv)s@Ct^LB>3-D;@|P_6f2H$(f3foJzw6@G94LwlOG_KBTq+K4 zjm4}gkr(pMg?)-(M4Pg)!TU`AdyfD2KRl-okL-6#&s=~A|;C_{{dYK ByZZnD diff --git a/docs/html/xml__parser__plugin_8hpp_source.html b/docs/html/xml__parser__plugin_8hpp_source.html deleted file mode 100644 index a7c9f42..0000000 --- a/docs/html/xml__parser__plugin_8hpp_source.html +++ /dev/null @@ -1,735 +0,0 @@ - - - - - - - -Fabric: fabric_parser_xml/include/fabric_parser_xml/xml_parser_plugin.hpp Source File - - - - - - - - - - -
    -
    xml_parser_plugin.hpp
    -
    -
    -Go to the documentation of this file.
    1#pragma once
    -
    2#include <cerrno>
    -
    3#include <cstdlib>
    -
    4#include <string>
    -
    5#include <vector>
    -
    6#include <tinyxml2.h>
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    7
    -
    8#include <rclcpp/rclcpp.hpp>
    -
    9#include <fabric_base/parser_base.hpp>
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    10#include <capabilities2_events/event_parameters.hpp>
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    11
    -
    12namespace fabric
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    13{
    -
    -
    19class XMLParser : public ParserBase
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    20{
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    21public:
    -
    22 XMLParser() = default;
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    23 virtual ~XMLParser() = default;
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    24
    -
    -
    30 void initialize(const rclcpp::Node::SharedPtr& node) override
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    31 {
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    32 initialize_base(node, "XMLParserPlugin");
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    33
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    34 auto* decl = system_doc.NewDeclaration(R"(xml version="1.0" encoding="UTF-8")");
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    35 system_doc.InsertEndChild(decl);
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    36 }
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    -
    37
    -
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    44 bool load_file(const std::string& file_path, fabric::Plan& plan) override
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    45 {
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    46 tinyxml2::XMLError xml_status = default_document.LoadFile(file_path.c_str());
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    47
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    48 // check if the file loading failed
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    49 if (xml_status != tinyxml2::XMLError::XML_SUCCESS)
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    50 {
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    51 RCLCPP_ERROR(node_->get_logger(), "[xml_parser] Error loading plan: %s, Error: %s", file_path.c_str(), default_document.ErrorName());
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    52 return false;
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    53 }
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    54
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    55 RCLCPP_INFO(node_->get_logger(), "Plan loaded from : %s", file_path.c_str());
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    56
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    57 convert_to_string(default_document, plan.plan);
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    58
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    59 return true;
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    60 }
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    61
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    68 bool check_compatibility(const fabric::Plan& plan) override
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    69 {
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    70 // XML Document to check the validity of the plan
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    71 tinyxml2::XMLDocument documentChecking;
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    72
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    73 // try to parse the std::string plan from fabric_msgs/Plan to the to a XMLDocument file
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    74 tinyxml2::XMLError xml_status = documentChecking.Parse(plan.plan.c_str());
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    75
    -
    76 // check if the file parsing failed
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    77 if (xml_status != tinyxml2::XMLError::XML_SUCCESS)
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    78 {
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    79 RCLCPP_ERROR(node_->get_logger(), "Parsing the plan from service request message failed with error: %s", documentChecking.ErrorName());
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    80 return false;
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    81 }
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    82
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    83 return true;
    -
    84 }
    -
    -
    85
    -
    -
    92 void parse(fabric::Plan& plan) override
    -
    93 {
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    94 RCLCPP_INFO(node_->get_logger(), "Plan being parsed: \n\n %s", plan.plan.c_str());
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    95
    -
    96 // parse the fabric::plan into a XML document
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    97 current_document_.Parse(plan.plan.c_str());
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    98
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    99 // Add a completion runner to the plan
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    100 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Adding completion runner to the plan");
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    101 add_completion_runner(current_document_, plan.plan_id);
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    102
    -
    103 // Debug: print the modified plan
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    104 std::string modified_plan;
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    105 convert_to_string(current_document_, modified_plan);
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    106 RCLCPP_DEBUG(node_->get_logger(), "[xml_parser] Plan after adding closing event :\n\n %s", modified_plan.c_str());
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    107
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    108 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Completion runner added. Extracting the plan element.");
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    109
    -
    110 // extract the plan element
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    111 plan_ = extract_plan(current_document_);
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    112
    -
    113 if (plan_ == nullptr)
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    114 throw fabric::fabric_exception("No <Plan> element found.");
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    115
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    116 RCLCPP_INFO(node_->get_logger(), "[xml_parser] <Plan> element extracted successfully.");
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    117
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    118 // check the syntax of the plan to make sure it contains valid XML elements and required attributes
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    119 std::string error_msg;
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    120 std::vector<std::string> control_list = { "sequential", "parallel_any", "parallel_all", "recovery" };
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    121
    -
    122 bool syntax_valid = check_syntax(plan_, control_list, plan.rejected_list, error_msg);
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    123
    -
    124 if (!syntax_valid)
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    125 {
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    126 throw fabric::fabric_exception("XML plan parsing failed: " + error_msg);
    -
    127 }
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    128 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Plan syntax validation successful");
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    129
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    130 // extract connections from the plan
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    131 extract_connections(plan_, plan);
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    132
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    133 RCLCPP_INFO(node_->get_logger(), "Finished parsing the plan");
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    134 }
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    -
    135
    -
    136protected:
    -
    -
    144 void convert_to_string(tinyxml2::XMLDocument& document_xml, std::string& document_string)
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    145 {
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    146 tinyxml2::XMLPrinter printer;
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    147 document_xml.Print(&printer);
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    148 document_string = printer.CStr();
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    149 }
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    -
    150
    -
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    159 bool search(std::vector<std::string> list, std::string value)
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    160 {
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    161 return (std::find(list.begin(), list.end(), value) != list.end());
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    162 }
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    -
    163
    -
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    173 tinyxml2::XMLElement* extract_plan(tinyxml2::XMLDocument& document)
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    174 {
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    175 std::string plan_tag(document.FirstChildElement()->Name());
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    176
    -
    177 if (plan_tag == "Plan")
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    178 return document.FirstChildElement("Plan")->FirstChildElement();
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    179 else
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    180 return nullptr;
    -
    181 }
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    -
    182
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    -
    191 inline bool convert_to_string(tinyxml2::XMLElement* element, std::string& parameters)
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    192 {
    -
    193 if (element)
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    194 {
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    195 tinyxml2::XMLPrinter printer;
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    196 element->Accept(&printer);
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    197 parameters = printer.CStr();
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    198 return true;
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    199 }
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    200 else
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    201 {
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    202 parameters = "";
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    203 return false;
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    204 }
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    205 }
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    -
    206
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    -
    218 bool check_syntax(tinyxml2::XMLElement* element, std::vector<std::string>& control_list, std::vector<std::string>& rejected, std::string& error)
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    219 {
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    220 const char* type = nullptr;
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    221 const char* interface = nullptr;
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    222 const char* provider = nullptr;
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    223
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    224 std::string elementTag(element->Name());
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    225
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    226 std::string parameter_string;
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    227 convert_to_string(element, parameter_string);
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    228
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    229 bool returnValue = true;
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    230
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    231 std::string typetag = "";
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    232 std::string interfacetag = "";
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    233 std::string providertag = "";
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    234
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    235 bool hasChildren = !element->NoChildren();
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    236 bool hasSiblings = (element->NextSiblingElement() != nullptr);
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    237
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    238 if (elementTag == "Control")
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    239 {
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    240 element->QueryStringAttribute("type", &type);
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    241
    -
    242 if (type)
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    243 {
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    244 typetag = type;
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    245
    -
    246 if (!search(control_list, typetag))
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    247 {
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    248 error = "Control tag '" + typetag + "' not available in the valid list";
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    249 rejected.push_back(parameter_string);
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    250 return false;
    -
    251 }
    -
    252 }
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    253 else
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    254 {
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    255 error = "Control tag missing 'type' attribute: " + parameter_string;
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    256 rejected.push_back(parameter_string);
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    257 return false;
    -
    258 }
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    259
    -
    260 if (hasChildren)
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    261 returnValue &= check_syntax(element->FirstChildElement(), control_list, rejected, error);
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    262
    -
    263 if (hasSiblings)
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    264 returnValue &= check_syntax(element->NextSiblingElement(), control_list, rejected, error);
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    265 }
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    266 else if (elementTag == "Runner")
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    267 {
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    268 element->QueryStringAttribute("interface", &interface);
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    269 element->QueryStringAttribute("provider", &provider);
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    270
    -
    271 if (not interface)
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    272 {
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    273 error = "Runner tag missing 'interface' attribute: " + parameter_string;
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    274 rejected.push_back(parameter_string);
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    275 return false;
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    276 }
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    277
    -
    278 if (not provider)
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    279 {
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    280 error = "Runner tag missing 'provider' attribute: " + parameter_string;
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    281 rejected.push_back(parameter_string);
    -
    282 return false;
    -
    283 }
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    284
    -
    285 if (hasSiblings)
    -
    286 returnValue &= check_syntax(element->NextSiblingElement(), control_list, rejected, error);
    -
    287 }
    -
    288 else
    -
    289 {
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    290 error = "XML element is not valid :" + parameter_string;
    -
    291 rejected.push_back(parameter_string);
    -
    292 return false;
    -
    293 }
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    294
    -
    295 return returnValue;
    -
    296 }
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    -
    297
    -
    -
    306 void add_completion_runner(tinyxml2::XMLDocument& document, const std::string& plan_id)
    -
    307 {
    -
    308 // Get the root <Plan> element
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    309 tinyxml2::XMLElement* plan = document.FirstChildElement("Plan");
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    310
    -
    311 // Create the outer <Control type="sequential"> element
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    312 tinyxml2::XMLElement* outerControl = document.NewElement("Control");
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    313 outerControl->SetAttribute("type", "sequential");
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    314 outerControl->SetAttribute("name", "fabric_completion_control");
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    315
    -
    316 // Move all existing children of <Plan> into the new outer control
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    317 while (tinyxml2::XMLNode* child = plan->FirstChild())
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    318 outerControl->InsertEndChild(child);
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    319
    -
    320 // Add the new outer control to the <Plan>
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    321 plan->InsertEndChild(outerControl);
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    322
    -
    323 // Create and append the new <Runner> element
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    324 tinyxml2::XMLElement* newRunner = document.NewElement("Runner");
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    325 newRunner->SetAttribute("interface", "fabric_capabilities/FabricCompletionRunner");
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    326 newRunner->SetAttribute("provider", "fabric_capabilities/FabricCompletionRunner");
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    327 newRunner->SetAttribute("plan_id", plan_id.c_str());
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    328 outerControl->InsertEndChild(newRunner);
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    329
    -
    330 RCLCPP_INFO(node_->get_logger(), "[xml_parser] CompletionRunner added to the plan");
    -
    331 }
    -
    -
    332
    -
    -
    341 int add_parallel_all(fabric::Plan& plan, int connection_id = 0, std::string description = "")
    -
    342 {
    -
    343 int input_count = 0;
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    344
    -
    345 // Since we are adding a parallel all connection, we need to identify the number of parallel runners
    -
    346 // that need to be multiplexed, which is equivalent to the number of success connections without a
    -
    347 // target on_success interface in the current plan
    -
    348 for (const auto& connection : plan.connections)
    -
    349 if (connection.second.on_success.interface == "")
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    350 input_count += 1;
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    351
    -
    352 fabric::connection node;
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    353 node.source.interface = "capabilities2_runner/InputMultiplexRunner";
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    354 node.source.provider = "capabilities2_runner/InputMultiplexRunner";
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    355 node.source.instance_id = runner_index;
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    356 node.source.parameters.set_value("input_count", input_count, capabilities2_events::OptionType::INT);
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    357
    -
    358 plan.connections[connection_id] = node;
    -
    359 plan.connections[connection_id].description = description;
    -
    360
    -
    361 // set the target_on_success for the new connection
    -
    362 for (auto& connection : plan.connections)
    -
    363 if (connection.second.on_success.interface == "")
    -
    364 connection.second.on_success = plan.connections[connection_id].source;
    -
    365
    -
    366 // increment the index for the next parallel all connection
    -
    367 runner_index += 1;
    -
    368
    -
    369 RCLCPP_INFO(node_->get_logger(), "[xml_parser] ParallelAll connection added to the plan with %d inputs, id %d", input_count, connection_id);
    -
    370
    -
    371 // return the next connection id
    -
    372 return connection_id;
    -
    373 }
    -
    -
    374
    -
    -
    383 int add_parallel_any(fabric::Plan& plan, int connection_id = 0, std::string description = "")
    -
    384 {
    -
    385 // Since we are adding a parallel_any connection, we only need to wait for a single success
    -
    386 // trigger to succeed, so we can set the input count to 1 for the multiplex runner
    -
    387 int input_count = 1;
    -
    388
    -
    389 // create a system runner for parallel any with the identified number of inputs
    -
    390 fabric::connection node;
    -
    391 node.source.interface = "capabilities2_runner/InputMultiplexRunner";
    -
    392 node.source.provider = "capabilities2_runner/InputMultiplexRunner";
    -
    393 node.source.instance_id = runner_index;
    -
    394 node.source.parameters.set_value("input_count", input_count, capabilities2_events::OptionType::INT);
    -
    395
    -
    396 plan.connections[connection_id] = node;
    -
    397 plan.connections[connection_id].description = description;
    -
    398
    -
    399 // set the on_success for the new connection
    -
    400 for (auto& connection : plan.connections)
    -
    401 if (connection.second.on_success.interface == "")
    -
    402 connection.second.on_success = plan.connections[connection_id].source;
    -
    403
    -
    404 // increment the index for the next parallel any connection
    -
    405 runner_index += 1;
    -
    406
    -
    407 RCLCPP_INFO(node_->get_logger(), "[xml_parser] ParallelAny connection added to the plan with id %d", connection_id);
    -
    408
    -
    409 // return the next connection id
    -
    410 return connection_id;
    -
    411 }
    -
    -
    412
    -
    422 // void check_and_update_runner_id(fabric::connection& predecessor, fabric::connection& successor)
    -
    423 // {
    -
    424 // // check if predecessor is a system runner and has parameters
    -
    425 // if (predecessor.source.interface.find("capabilities2_runner/InputMultiplexRunner") != std::string::npos)
    -
    426 // {
    -
    427 // // If the predecessor is a system runner, we need to update the successor's parameters with the predecessor's id
    -
    428 // if (predecessor.source.parameters.has_value("id"))
    -
    429 // {
    -
    430 // // Get the id attribute from the predecessor system runner
    -
    431 // int id = std::any_cast<int>(predecessor.source.parameters.get_value("id", 0));
    -
    432
    -
    433 // // Set the id attribute for the successor system runner
    -
    434 // successor.source.parameters.set_value("id", id, capabilities2_events::OptionType::INT);
    -
    435
    -
    436 // RCLCPP_INFO(node_->get_logger(), "[xml_parser] Updated successor runner id to %d", id);
    -
    437 // }
    -
    438 // }
    -
    439 // }
    -
    440
    -
    -
    449 capabilities2_events::EventParameters convert_xml_to_event_parameters(tinyxml2::XMLElement* element)
    -
    450 {
    -
    451 capabilities2_events::EventParameters parameters;
    -
    452
    -
    453 // Iterate through the attributes of the XML element and add them to the EventParameters
    -
    454 const tinyxml2::XMLAttribute* attr = element->FirstAttribute();
    -
    455
    -
    456 while (attr)
    -
    457 {
    -
    458 // key will always be a string.
    -
    459 std::string key = attr->Name();
    -
    460 std::string string_value = attr->Value();
    -
    461
    -
    462 // skip the interface attribute as it is already used for the connection's source interface
    -
    463 if (key == "interface")
    -
    464 {
    -
    465 attr = attr->Next();
    -
    466 continue;
    -
    467 }
    -
    468
    -
    469 // skip the provider attribute as it is already used for the connection's source provider
    -
    470 if (key == "provider")
    -
    471 {
    -
    472 attr = attr->Next();
    -
    473 continue;
    -
    474 }
    -
    475
    -
    476 // Treat booleans strictly as literal true/false (avoid misclassifying numeric strings like "0.5").
    -
    477 if (string_value == "true" || string_value == "false")
    -
    478 {
    -
    479 const bool bool_value = (string_value == "true");
    -
    480 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Extracted attribute: %s = %s (bool)", key.c_str(), bool_value ? "true" : "false");
    -
    481 parameters.set_value(key, bool_value, capabilities2_events::OptionType::BOOL);
    -
    482 }
    -
    483 else
    -
    484 {
    -
    485 // Prefer int when the value is an integer; otherwise parse as double if fully consumable.
    -
    486 char* int_end = nullptr;
    -
    487 errno = 0;
    -
    488 const long int_value_long = std::strtol(string_value.c_str(), &int_end, 10);
    -
    489
    -
    490 if (int_end != nullptr && *int_end == '\0' && errno == 0)
    -
    491 {
    -
    492 const int int_value = static_cast<int>(int_value_long);
    -
    493 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Extracted attribute: %s = %d (int)", key.c_str(), int_value);
    -
    494 parameters.set_value(key, int_value, capabilities2_events::OptionType::INT);
    -
    495 }
    -
    496 else
    -
    497 {
    -
    498 char* double_end = nullptr;
    -
    499 errno = 0;
    -
    500 const double double_value = std::strtod(string_value.c_str(), &double_end);
    -
    501
    -
    502 if (double_end != nullptr && *double_end == '\0' && errno == 0)
    -
    503 {
    -
    504 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Extracted attribute: %s = %f (double)", key.c_str(), double_value);
    -
    505 parameters.set_value(key, double_value, capabilities2_events::OptionType::DOUBLE);
    -
    506 }
    -
    507 else
    -
    508 {
    -
    509 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Extracted attribute: %s = %s (string)", key.c_str(), string_value.c_str());
    -
    510 parameters.set_value(key, string_value, capabilities2_events::OptionType::STRING);
    -
    511 }
    -
    512 }
    -
    513 }
    -
    514
    -
    515 attr = attr->Next();
    -
    516 }
    -
    517
    -
    518 return parameters;
    -
    519 }
    -
    -
    520
    -
    -
    527 int extract_connections(tinyxml2::XMLElement* element, fabric::Plan& plan, int connection_id = 0,
    -
    528 fabric::event connection_type = fabric::event::ON_SUCCESS, std::string conn_description = "")
    -
    529 {
    -
    530 int predecessor_id;
    -
    531 int last_conn_id = connection_id;
    -
    532
    -
    533 const char* type = nullptr;
    -
    534 const char* name = nullptr;
    -
    535 const char* interface = nullptr;
    -
    536 const char* provider = nullptr;
    -
    537
    -
    538 std::string elementTag(element->Name());
    -
    539
    -
    540 std::string typetag = "";
    -
    541 std::string description = "";
    -
    542 std::string interfacetag = "";
    -
    543 std::string providertag = "";
    -
    544
    -
    545 bool hasChildren = (element->FirstChildElement() != nullptr);
    -
    546 bool hasSiblings = (element->NextSiblingElement() != nullptr);
    -
    547
    -
    548 if (elementTag == "Control")
    -
    549 {
    -
    550 type = element->Attribute("type");
    -
    551 name = element->Attribute("name");
    -
    552
    -
    553 if (type)
    -
    554 typetag = type;
    -
    555
    -
    556 if (name)
    -
    557 description = name;
    -
    558
    -
    559 if (typetag == "sequential")
    -
    560 {
    -
    561 if (hasChildren)
    -
    562 last_conn_id = extract_connections(element->FirstChildElement(), plan, connection_id, fabric::event::ON_SUCCESS, description);
    -
    563 }
    -
    564 else if (typetag == "parallel_any")
    -
    565 {
    -
    566 if (hasChildren)
    -
    567 {
    -
    568 // extract plan.connections from the first child element
    -
    569 last_conn_id = extract_connections(element->FirstChildElement(), plan, connection_id, fabric::event::ON_START, description);
    -
    570
    -
    571 // add a system connection for parallel_any to proceed when at least one parallel runner is completed
    -
    572 last_conn_id = add_parallel_any(plan, last_conn_id + 1, "parallel_any_for_muxing_outputs");
    -
    573 }
    -
    574 }
    -
    575 else if (typetag == "parallel_all")
    -
    576 {
    -
    577 if (hasChildren)
    -
    578 {
    -
    579 // extract connections from the first child element
    -
    580 last_conn_id = extract_connections(element->FirstChildElement(), plan, connection_id, fabric::event::ON_START, description);
    -
    581
    -
    582 // add a system connection for parallel_all to proceed when all parallel runners are completed
    -
    583 last_conn_id = add_parallel_all(plan, last_conn_id + 1, "parallel_all_for_muxing_outputs");
    -
    584 }
    -
    585 }
    -
    586 else if (typetag == "recovery")
    -
    587 {
    -
    588 if (hasChildren)
    -
    589 {
    -
    590 // extract connections from the first child element
    -
    591 last_conn_id = extract_connections(element->FirstChildElement(), plan, connection_id, fabric::event::ON_FAILURE, description);
    -
    592
    -
    593 // add a system connection for recovery to proceed when the original runner or at least one recovery runner is completed
    -
    594 last_conn_id = add_parallel_any(plan, last_conn_id + 1, "parallel_any_for_muxing_recovery");
    -
    595 }
    -
    596 }
    -
    597
    -
    598 if (hasSiblings)
    -
    599 {
    -
    600 // continue extracting connections from the next sibling element
    -
    601 last_conn_id = extract_connections(element->NextSiblingElement(), plan, last_conn_id + 1, connection_type, conn_description);
    -
    602 }
    -
    603
    -
    604 return last_conn_id;
    -
    605 }
    -
    606 else if (elementTag == "Runner")
    -
    607 {
    -
    608 interface = element->Attribute("interface");
    -
    609 provider = element->Attribute("provider");
    -
    610
    -
    611 if (interface)
    -
    612 interfacetag = interface;
    -
    613
    -
    614 if (provider)
    -
    615 providertag = provider;
    -
    616
    -
    617 RCLCPP_INFO(node_->get_logger(), "[xml_parser] Creating fabric connection: interface = %s, provider = %s", interfacetag.c_str(),
    -
    618 providertag.c_str());
    -
    619
    -
    620 fabric::connection connection;
    -
    621
    -
    622 connection.source.interface = interfacetag;
    -
    623 connection.source.provider = providertag;
    -
    624 connection.source.parameters = convert_xml_to_event_parameters(element);
    -
    625 connection.source.instance_id = runner_index;
    -
    626
    -
    627 predecessor_id = connection_id - 1;
    -
    628
    -
    629 plan.connections[connection_id] = connection;
    -
    630 plan.connections[connection_id].description = conn_description;
    -
    631
    -
    632 runner_index += 1;
    -
    633
    -
    634 if (connection_id != 0)
    -
    635 {
    -
    636 // if the predecessor is a system runner, we need to update the successor's parameters with the predecessor's id
    -
    637 // this->check_and_update_runner_id(connections[predecessor_id], connections[connection_id]);
    -
    638
    -
    639 if (connection_type == fabric::event::ON_SUCCESS)
    -
    640 {
    -
    641 // Set the target_on_success for the predecessor connection
    -
    642 plan.connections[predecessor_id].on_success = plan.connections[connection_id].source;
    -
    643
    -
    644 RCLCPP_INFO(node_->get_logger(), "[xml_parser] set on_success for id %d to interface %s", predecessor_id,
    -
    645 plan.connections[predecessor_id].on_success.interface.c_str());
    -
    646 }
    -
    647 else if (connection_type == fabric::event::ON_START)
    -
    648 {
    -
    649 // Set the target_on_start for the predecessor connection
    -
    650 plan.connections[predecessor_id].on_start = plan.connections[connection_id].source;
    -
    651 RCLCPP_INFO(node_->get_logger(), "[xml_parser] set on_start for id %d to interface %s", predecessor_id,
    -
    652 plan.connections[predecessor_id].on_start.interface.c_str());
    -
    653 }
    -
    654 else if (connection_type == fabric::event::ON_FAILURE)
    -
    655 {
    -
    656 // Set the target_on_failure for the predecessor connection
    -
    657 plan.connections[predecessor_id].on_failure = plan.connections[connection_id].source;
    -
    658 RCLCPP_INFO(node_->get_logger(), "[xml_parser] set on_failure for id %d to interface %s", predecessor_id,
    -
    659 plan.connections[predecessor_id].on_failure.interface.c_str());
    -
    660 }
    -
    661 }
    -
    662
    -
    663 if (hasSiblings)
    -
    664 last_conn_id = this->extract_connections(element->NextSiblingElement(), plan, connection_id + 1, connection_type);
    -
    665 else
    -
    666 last_conn_id = connection_id;
    -
    667
    -
    668 return last_conn_id;
    -
    669 }
    -
    670
    -
    671 // Fallback if an unexpected tag appears: return the current id unchanged
    -
    672 return last_conn_id;
    -
    673 }
    -
    -
    674
    -
    678 std::vector<std::string> control_list;
    -
    679
    -
    683 tinyxml2::XMLDocument system_doc;
    -
    684
    -
    688 int runner_index = 0;
    -
    689
    -
    693 tinyxml2::XMLElement* plan_ = nullptr;
    -
    694
    -
    698 tinyxml2::XMLDocument default_document;
    -
    699
    -
    703 tinyxml2::XMLDocument current_document_;
    -
    704};
    -
    -
    705} // namespace fabric
    -
    fabric::ParserBase
    Abstract base class for XML plan parsing plugins.
    Definition parser_base.hpp:18
    -
    fabric::ParserBase::initialize_base
    void initialize_base(const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
    Base initialization method for derived classes.
    Definition parser_base.hpp:64
    -
    fabric::ParserBase::node_
    rclcpp::Node::SharedPtr node_
    Shared pointer to the ROS2 node.
    Definition parser_base.hpp:73
    -
    fabric::XMLParser
    Syntax validation plugin for XML plans.
    Definition xml_parser_plugin.hpp:20
    -
    fabric::XMLParser::current_document_
    tinyxml2::XMLDocument current_document_
    XML Document to hold the current plan.
    Definition xml_parser_plugin.hpp:703
    -
    fabric::XMLParser::control_list
    std::vector< std::string > control_list
    List of valid control tags.
    Definition xml_parser_plugin.hpp:678
    -
    fabric::XMLParser::load_file
    bool load_file(const std::string &file_path, fabric::Plan &plan) override
    load a file into an XML document
    Definition xml_parser_plugin.hpp:44
    -
    fabric::XMLParser::add_parallel_all
    int add_parallel_all(fabric::Plan &plan, int connection_id=0, std::string description="")
    Adds a system connection for parallel input multiplexing with waiting for all inputs.
    Definition xml_parser_plugin.hpp:341
    -
    fabric::XMLParser::search
    bool search(std::vector< std::string > list, std::string value)
    search a string in a vector of strings
    Definition xml_parser_plugin.hpp:159
    -
    fabric::XMLParser::XMLParser
    XMLParser()=default
    -
    fabric::XMLParser::parse
    void parse(fabric::Plan &plan) override
    Parse the given XML plan.
    Definition xml_parser_plugin.hpp:92
    -
    fabric::XMLParser::plan_
    tinyxml2::XMLElement * plan_
    Pointer to the plan element in the XML document.
    Definition xml_parser_plugin.hpp:693
    -
    fabric::XMLParser::extract_plan
    tinyxml2::XMLElement * extract_plan(tinyxml2::XMLDocument &document)
    Extract the <Plan> element from the XML document.
    Definition xml_parser_plugin.hpp:173
    -
    fabric::XMLParser::check_compatibility
    bool check_compatibility(const fabric::Plan &plan) override
    Check the compatibility of the given plan with the given parser.
    Definition xml_parser_plugin.hpp:68
    -
    fabric::XMLParser::system_doc
    tinyxml2::XMLDocument system_doc
    XML Document for system runners.
    Definition xml_parser_plugin.hpp:683
    -
    fabric::XMLParser::runner_index
    int runner_index
    Index for assigning unique IDs to system runners.
    Definition xml_parser_plugin.hpp:688
    -
    fabric::XMLParser::add_parallel_any
    int add_parallel_any(fabric::Plan &plan, int connection_id=0, std::string description="")
    Adds a system connection for parallel input multiplexing with waiting for any inputs.
    Definition xml_parser_plugin.hpp:383
    -
    fabric::XMLParser::default_document
    tinyxml2::XMLDocument default_document
    Default XML document for loading from file.
    Definition xml_parser_plugin.hpp:698
    -
    fabric::XMLParser::~XMLParser
    virtual ~XMLParser()=default
    -
    fabric::XMLParser::add_completion_runner
    void add_completion_runner(tinyxml2::XMLDocument &document, const std::string &plan_id)
    add a completion runner to the plan This function adds a new <Control> element with type "sequential"...
    Definition xml_parser_plugin.hpp:306
    -
    fabric::XMLParser::convert_to_string
    void convert_to_string(tinyxml2::XMLDocument &document_xml, std::string &document_string)
    convert XMLDocument to std::string
    Definition xml_parser_plugin.hpp:144
    -
    fabric::XMLParser::convert_to_string
    bool convert_to_string(tinyxml2::XMLElement *element, std::string &parameters)
    convert XMLElement to std::string
    Definition xml_parser_plugin.hpp:191
    -
    fabric::XMLParser::initialize
    void initialize(const rclcpp::Node::SharedPtr &node) override
    Initialize the XML parser plugin.
    Definition xml_parser_plugin.hpp:30
    -
    fabric::XMLParser::extract_connections
    int extract_connections(tinyxml2::XMLElement *element, fabric::Plan &plan, int connection_id=0, fabric::event connection_type=fabric::event::ON_SUCCESS, std::string conn_description="")
    parse through the plan and extract the connections
    Definition xml_parser_plugin.hpp:527
    -
    fabric::XMLParser::convert_xml_to_event_parameters
    capabilities2_events::EventParameters convert_xml_to_event_parameters(tinyxml2::XMLElement *element)
    Check and update the system runner id for the successor based on the predecessor's id.
    Definition xml_parser_plugin.hpp:449
    -
    fabric::XMLParser::check_syntax
    bool check_syntax(tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
    check the plan to make sure all control and runner XML elements are valid with minimal required attri...
    Definition xml_parser_plugin.hpp:218
    -
    fabric
    Definition parser_base.hpp:9
    -
    fabric::event
    event
    Enumeration for different event types in connections.
    Definition structs.hpp:15
    -
    fabric::ON_START
    @ ON_START
    Definition structs.hpp:16
    -
    fabric::ON_FAILURE
    @ ON_FAILURE
    Definition structs.hpp:18
    -
    fabric::ON_SUCCESS
    @ ON_SUCCESS
    Definition structs.hpp:17
    -
    parser_base.hpp
    -
    fabric::Plan
    Definition structs.hpp:70
    -
    fabric::Plan::rejected_list
    std::vector< std::string > rejected_list
    Definition structs.hpp:75
    -
    fabric::Plan::connections
    std::map< int, connection > connections
    Definition structs.hpp:74
    -
    fabric::Plan::plan
    std::string plan
    Definition structs.hpp:72
    -
    fabric::Plan::plan_id
    std::string plan_id
    Definition structs.hpp:71
    -
    fabric::connection
    Structure representing connections between nodes.
    Definition structs.hpp:42
    -
    fabric::connection::on_success
    node on_success
    Definition structs.hpp:46
    -
    fabric::connection::source
    node source
    Definition structs.hpp:43
    -
    fabric::fabric_exception
    Base class for driver exceptions.
    Definition exception.hpp:14
    -
    fabric::node
    Structure representing a node in the fabric.
    Definition structs.hpp:26
    -
    fabric::node::provider
    std::string provider
    Definition structs.hpp:28
    -
    fabric::node::interface
    std::string interface
    Definition structs.hpp:27
    -
    fabric::node::parameters
    capabilities2_events::EventParameters parameters
    Definition structs.hpp:29
    -
    fabric::node::instance_id
    int instance_id
    Definition structs.hpp:30
    -
    - -
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    - - diff --git a/docs/html/xml__plan_8md.html b/docs/html/xml__plan_8md.html deleted file mode 100644 index 3155939..0000000 --- a/docs/html/xml__plan_8md.html +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - - -Fabric: docs/xml_plan.md File Reference - - - - - - - - - -
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