Implements service interface to transition the lifecycle nodes of Nav2 stack. It receives transition request and then uses lifecycle interface to change lifecycle node's state. More...

#include <nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp>

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Public Member Functions
	LifecycleManager (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A constructor for nav2_lifecycle_manager::LifecycleManager. More...

	~LifecycleManager ()
	A destructor for nav2_lifecycle_manager::LifecycleManager.

Protected Member Functions
void	managerCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< ManageLifecycleNodes::Request > request, std::shared_ptr< ManageLifecycleNodes::Response > response)
	Lifecycle node manager callback function. More...

void	isActiveCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< std_srvs::srv::Trigger::Request > request, std::shared_ptr< std_srvs::srv::Trigger::Response > response)
	Trigger callback function checks if the managed nodes are in active state. More...

bool	startup ()
	Start up managed nodes. More...

bool	configure ()
	Configures the managed nodes. More...

bool	cleanup ()
	Cleanups the managed nodes. More...

bool	shutdown ()
	Deactivate, clean up and shut down all the managed nodes. More...

bool	reset (bool hard_reset=false)
	Reset all the managed nodes. More...

bool	pause ()
	Pause all the managed nodes. More...

bool	resume ()
	Resume all the managed nodes. More...

void	onRclPreshutdown ()
	Perform preshutdown activities before our Context is shutdown. Note that this is related to our Context's shutdown sequence, not the lifecycle node state machine or shutdown().

void	createLifecycleServiceClients ()
	Support function for creating service clients.

void	shutdownAllNodes ()
	Support function for shutdown.

void	destroyLifecycleServiceClients ()
	Destroy all the lifecycle service clients.

void	createBondTimer ()
	Support function for creating bond timer.

bool	createBondConnection (const std::string &node_name)
	Support function for creating bond connections.

void	destroyBondTimer ()
	Support function for killing bond connections.

void	checkBondConnections ()

void	checkBondRespawnConnection ()

bool	changeStateForNode (const std::string &node_name, std::uint8_t transition)
	For a node, transition to the new target state.

bool	changeStateForAllNodes (std::uint8_t transition, bool hard_change=false)
	For each node in the map, transition to the new target state.

void	message (const std::string &msg)
	Helper function to highlight the output on the console.

void	CreateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
	function to check the state of Nav2 nodes

void	registerRclPreshutdownCallback ()

bool	isActive ()
	function to check if managed nodes are active

Protected Attributes
rclcpp::CallbackGroup::SharedPtr	callback_group_

std::unique_ptr< nav2_util::NodeThread >	service_thread_

rclcpp::Service< ManageLifecycleNodes >::SharedPtr	manager_srv_

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	is_active_srv_

rclcpp::TimerBase::SharedPtr	init_timer_

rclcpp::TimerBase::SharedPtr	bond_timer_

rclcpp::TimerBase::SharedPtr	bond_respawn_timer_

std::chrono::milliseconds	bond_timeout_

std::map< std::string, std::shared_ptr< bond::Bond > >	bond_map_

std::map< std::string, std::shared_ptr< nav2_util::LifecycleServiceClient > >	node_map_

std::map< std::uint8_t, std::string >	transition_label_map_

std::unordered_map< std::uint8_t, std::uint8_t >	transition_state_map_

std::vector< std::string >	node_names_

bool	autostart_

bool	attempt_respawn_reconnection_

NodeState	managed_nodes_state_ {NodeState::UNCONFIGURED}

diagnostic_updater::Updater	diagnostics_updater_

rclcpp::Time	bond_respawn_start_time_ {0}

rclcpp::Duration	bond_respawn_max_duration_ {10s}

Detailed Description

Implements service interface to transition the lifecycle nodes of Nav2 stack. It receives transition request and then uses lifecycle interface to change lifecycle node's state.

Definition at line 58 of file lifecycle_manager.hpp.

Constructor & Destructor Documentation

◆ LifecycleManager()

nav2_lifecycle_manager::LifecycleManager::LifecycleManager ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

A constructor for nav2_lifecycle_manager::LifecycleManager.

Parameters

options Additional options to control creation of the node.

Definition at line 35 of file lifecycle_manager.cpp.

References CreateDiagnostic(), createLifecycleServiceClients(), isActiveCallback(), managerCallback(), registerRclPreshutdownCallback(), and startup().

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Member Function Documentation

◆ checkBondConnections()

void nav2_lifecycle_manager::LifecycleManager::checkBondConnections ( )

protected

@ brief Support function for checking on bond connections will take down system if there's something non-responsive

Definition at line 477 of file lifecycle_manager.cpp.

References checkBondRespawnConnection(), isActive(), message(), and reset().

Referenced by createBondTimer().

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◆ checkBondRespawnConnection()

void nav2_lifecycle_manager::LifecycleManager::checkBondRespawnConnection ( )

protected

@ brief Support function for checking on bond connections will bring back the system if something goes from non-responsive to responsive

Definition at line 517 of file lifecycle_manager.cpp.

References isActive(), message(), and startup().

Referenced by checkBondConnections().

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◆ cleanup()

bool nav2_lifecycle_manager::LifecycleManager::cleanup ( )

protected

Cleanups the managed nodes.

Returns: true or false

Definition at line 343 of file lifecycle_manager.cpp.

References changeStateForAllNodes(), and message().

Referenced by managerCallback().

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◆ configure()

bool nav2_lifecycle_manager::LifecycleManager::configure ( )

protected

Configures the managed nodes.

Returns: true or false

Definition at line 329 of file lifecycle_manager.cpp.

References changeStateForAllNodes(), and message().

Referenced by managerCallback().

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◆ isActiveCallback()

void nav2_lifecycle_manager::LifecycleManager::isActiveCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< std_srvs::srv::Trigger::Request >	request,
		std::shared_ptr< std_srvs::srv::Trigger::Response >	response
	)

protected

Trigger callback function checks if the managed nodes are in active state.

Parameters

request_header	Header of the request
request	Service request
reponse	Service response

Definition at line 156 of file lifecycle_manager.cpp.

References isActive().

Referenced by LifecycleManager().

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◆ managerCallback()

void nav2_lifecycle_manager::LifecycleManager::managerCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< ManageLifecycleNodes::Request >	request,
		std::shared_ptr< ManageLifecycleNodes::Response >	response
	)

protected

Lifecycle node manager callback function.

Parameters

request_header	Header of the service request
request	Service request
reponse	Service response

Definition at line 119 of file lifecycle_manager.cpp.

References cleanup(), configure(), pause(), reset(), resume(), shutdown(), and startup().

Referenced by LifecycleManager().

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◆ pause()

bool nav2_lifecycle_manager::LifecycleManager::pause ( )

protected

Pause all the managed nodes.

Returns: true or false

Definition at line 391 of file lifecycle_manager.cpp.

References changeStateForAllNodes(), destroyBondTimer(), and message().

Referenced by managerCallback().

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◆ registerRclPreshutdownCallback()

void nav2_lifecycle_manager::LifecycleManager::registerRclPreshutdownCallback ( )

protected

Register our preshutdown callback for this Node's rcl Context. The callback fires before this Node's Context is shutdown. Note this is not directly related to the lifecycle state machine or the shutdown() instance function.

Definition at line 467 of file lifecycle_manager.cpp.

References onRclPreshutdown().

Referenced by LifecycleManager().

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