galaxis::ROSHeartbeat Class Reference

#include <ros_heartbeat.hpp>

Public Member Functions
	ROSHeartbeat ()=delete
	ROSHeartbeat (rclcpp::Node *p_nodePtr, std::string &p_nodeNameRef, unsigned int p_period)
	~ROSHeartbeat ()
void	beat (void)
void	set_service_state (::galaxis::serviceStates::State const p_serviceState)

Private Attributes
rclcpp::Node *	m_nodePtr = nullptr
rclcpp::Publisher< HeartbeatMessageType >::SharedPtr	m_publisherSPtr
std::chrono::milliseconds	m_period
rclcpp::TimerBase::SharedPtr	m_periodicTimer
::galaxis::serviceStates::State	m_serviceState = ::galaxis::serviceStates::State::BOOTSTRAP
std::string	m_nodeName = "UNDEFINED"

Detailed Description

Definition at line 14 of file ros_heartbeat.hpp.

Constructor & Destructor Documentation

ROSHeartbeat() [1/2]

galaxis::ROSHeartbeat::ROSHeartbeat ( )

delete

ROSHeartbeat() [2/2]

ROSHeartbeat::ROSHeartbeat	(	rclcpp::Node *	p_nodePtr,
		std::string &	p_nodeNameRef,
		unsigned int	p_period
	)

Definition at line 5 of file ros_heartbeat.cpp.

                                                                                                 :
    m_nodePtr(p_nodePtr) {
  if(m_nodePtr == nullptr) {
    throw galaxis::Errors::POINTER_ERROR();
  }
 
  ::galaxis::ros::create_publisher(m_nodePtr, m_publisherSPtr);
 
  m_nodeName = p_nodeNameRef;
 
  // create timer for periodical heartbeating
  if(p_period > _HEARTBEAT_MAXIMUM_PERIOD_TIME) {
    RCLCPP_ERROR(m_nodePtr->get_logger(), "maximum heartbeat period time exceeded");
    p_period = _HEARTBEAT_MAXIMUM_PERIOD_TIME;
    // throw galaxis::Errors::UNDEFINED_ERROR();
  }
 
  m_period        = std::chrono::milliseconds{ p_period };
  m_periodicTimer = m_nodePtr->create_wall_timer(m_period, std::bind(&ROSHeartbeat::beat, this));
}

References _HEARTBEAT_MAXIMUM_PERIOD_TIME, beat(), m_nodeName, m_nodePtr, m_period, m_periodicTimer, and m_publisherSPtr.

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~ROSHeartbeat()

ROSHeartbeat::~ROSHeartbeat

(

)

Definition at line 26 of file ros_heartbeat.cpp.

                            {
  m_periodicTimer->cancel();
}

References m_periodicTimer.

Member Function Documentation

beat()

void ROSHeartbeat::beat

(

void

)

Definition at line 30 of file ros_heartbeat.cpp.

                            {
  // RCLCPP_INFO(m_nodePtr->get_logger(), "[HEARTBEAT]");
  auto messageUPtr                 = std::make_unique<HeartbeatMessageType>();
  messageUPtr->node_name           = m_nodeName;
  messageUPtr->service_state.state = m_serviceState;
  m_publisherSPtr->publish(std::move(messageUPtr));
}

References m_nodeName, m_publisherSPtr, and m_serviceState.

Referenced by ROSHeartbeat().

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set_service_state()

void ROSHeartbeat::set_service_state

(

::galaxis::serviceStates::State const

p_serviceState

)

Definition at line 38 of file ros_heartbeat.cpp.

                                                                                   {
  if(p_serviceState < 0 || p_serviceState >= ::galaxis::serviceStates::State::COUNT) {
    RCLCPP_ERROR(m_nodePtr->get_logger(), "service state not implemented");
    // throw galaxis::Errors::NOT_IMPLEMENTED_ERROR();
    return;
  }
 
  m_serviceState = p_serviceState;
}

References galaxis::serviceStates::COUNT, m_nodePtr, and m_serviceState.

Referenced by GalaxisNode::service_state_callback().

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Member Data Documentation

m_nodeName

std::string galaxis::ROSHeartbeat::m_nodeName = "UNDEFINED"

private

Definition at line 21 of file ros_heartbeat.hpp.

Referenced by beat(), and ROSHeartbeat().

m_nodePtr

rclcpp::Node* galaxis::ROSHeartbeat::m_nodePtr = nullptr

private

Definition at line 16 of file ros_heartbeat.hpp.

Referenced by ROSHeartbeat(), and set_service_state().

m_period

std::chrono::milliseconds galaxis::ROSHeartbeat::m_period

private

Definition at line 18 of file ros_heartbeat.hpp.

Referenced by ROSHeartbeat().

m_periodicTimer

rclcpp::TimerBase::SharedPtr galaxis::ROSHeartbeat::m_periodicTimer

private

Definition at line 19 of file ros_heartbeat.hpp.

Referenced by ROSHeartbeat(), and ~ROSHeartbeat().

m_publisherSPtr

rclcpp::Publisher<HeartbeatMessageType>::SharedPtr galaxis::ROSHeartbeat::m_publisherSPtr

private

Definition at line 17 of file ros_heartbeat.hpp.

Referenced by beat(), and ROSHeartbeat().

m_serviceState

::galaxis::serviceStates::State galaxis::ROSHeartbeat::m_serviceState = ::galaxis::serviceStates::State::BOOTSTRAP

private

Definition at line 20 of file ros_heartbeat.hpp.

Referenced by beat(), and set_service_state().

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

• utilities/include/galaxis/ros_heartbeat.hpp
• utilities/src/ros_heartbeat.cpp