opennav_docking::DockDatabase Class Reference

An object to contain docks and docking plugins. More...

#include <nav2_docking/opennav_docking/include/opennav_docking/dock_database.hpp>

Collaboration diagram for opennav_docking::DockDatabase:

Public Member Functions
	DockDatabase (std::shared_ptr< std::mutex > mutex=std::make_shared< std::mutex >())
	A constructor for opennav_docking::DockDatabase.
bool	initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::shared_ptr< tf2_ros::Buffer > tf)
	A setup function to populate database. More...
	~DockDatabase ()
	A destructor for opennav_docking::DockDatabase.
void	activate ()
	An activation method.
void	deactivate ()
	An deactivation method.
Dock *	findDock (const std::string &dock_id)
	Find a dock instance & plugin in the databases from ID. More...
ChargingDock::Ptr	findDockPlugin (const std::string &type)
	Find a dock plugin to use for a given type. More...
unsigned int	instance_size () const
	Get the number of docks in the database. More...
unsigned int	plugin_size () const
	Get the number of dock types in the database. More...

Protected Member Functions
bool	getDockPlugins (const rclcpp_lifecycle::LifecycleNode::SharedPtr &node, std::shared_ptr< tf2_ros::Buffer > tf)
	Populate database of dock type plugins. More...
bool	getDockInstances (const rclcpp_lifecycle::LifecycleNode::SharedPtr &node)
	Populate database of dock instances. More...
Dock *	findDockInstance (const std::string &dock_id)
	Find a dock instance in the database from ID. More...
void	reloadDbCb (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav2_msgs::srv::ReloadDockDatabase::Request > request, std::shared_ptr< nav2_msgs::srv::ReloadDockDatabase::Response > response)
	Service request to reload database of docks. More...

Protected Attributes
rclcpp_lifecycle::LifecycleNode::WeakPtr	node_
std::shared_ptr< std::mutex >	mutex_
DockPluginMap	dock_plugins_
DockMap	dock_instances_
pluginlib::ClassLoader< opennav_docking_core::ChargingDock >	dock_loader_
nav2_util::ServiceServer< nav2_msgs::srv::ReloadDockDatabase, std::shared_ptr< rclcpp_lifecycle::LifecycleNode > >::SharedPtr	reload_db_service_

Detailed Description

An object to contain docks and docking plugins.

Definition at line 40 of file dock_database.hpp.

Member Function Documentation

findDock()

Dock * opennav_docking::DockDatabase::findDock

(

const std::string &

dock_id

)

Find a dock instance & plugin in the databases from ID.

Parameters

dock_id

Id of dock to find

Returns

Dock pointer

Definition at line 111 of file dock_database.cpp.

References findDockInstance(), and findDockPlugin().

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findDockInstance()

Dock * opennav_docking::DockDatabase::findDockInstance ( const std::string &  dock_id )

protected

Find a dock instance in the database from ID.

Parameters

dock_id

Id of dock to find

Returns

Dock pointer

Definition at line 128 of file dock_database.cpp.

Referenced by findDock().

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findDockPlugin()

ChargingDock::Ptr opennav_docking::DockDatabase::findDockPlugin

(

const std::string &

type

)

Find a dock plugin to use for a given type.

Parameters

type	Dock type to find plugin for

Returns

Dock plugin pointer

Definition at line 137 of file dock_database.cpp.

Referenced by findDock().

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getDockInstances()

bool opennav_docking::DockDatabase::getDockInstances ( const rclcpp_lifecycle::LifecycleNode::SharedPtr &  node )

protected

Populate database of dock instances.

Parameters

Node	Node to get values from

Definition at line 191 of file dock_database.cpp.

Referenced by initialize().

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getDockPlugins()

bool opennav_docking::DockDatabase::getDockPlugins ( const rclcpp_lifecycle::LifecycleNode::SharedPtr &  node, std::shared_ptr< tf2_ros::Buffer >  tf  )

protected

Populate database of dock type plugins.

Parameters

Node	Node to get values from
tf	TF buffer

Returns

bool If successful

Definition at line 151 of file dock_database.cpp.

Referenced by initialize().

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initialize()

bool opennav_docking::DockDatabase::initialize	(	const rclcpp_lifecycle::LifecycleNode::WeakPtr &	parent,
		std::shared_ptr< tf2_ros::Buffer >	tf
	)

A setup function to populate database.

Parameters

parent	Weakptr to the node to use to get interances and parameters
tf	TF buffer

Returns

If successful

Definition at line 32 of file dock_database.cpp.

References getDockInstances(), getDockPlugins(), and reloadDbCb().

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instance_size()

unsigned int opennav_docking::DockDatabase::instance_size

(

)

const

Get the number of docks in the database.

Returns

unsigned int Number of dock instances in the database

Definition at line 238 of file dock_database.cpp.

plugin_size()

unsigned int opennav_docking::DockDatabase::plugin_size

(

)

const

Get the number of dock types in the database.

Returns

unsigned int Number of dock types in the database

Definition at line 233 of file dock_database.cpp.

reloadDbCb()

void opennav_docking::DockDatabase::reloadDbCb ( const std::shared_ptr< rmw_request_id_t >  request_header, const std::shared_ptr< nav2_msgs::srv::ReloadDockDatabase::Request >  request, std::shared_ptr< nav2_msgs::srv::ReloadDockDatabase::Response >  response  )

protected

Service request to reload database of docks.

Parameters

request	Service request
response	Service response

Definition at line 85 of file dock_database.cpp.

Referenced by initialize().

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

• nav2_docking/opennav_docking/include/opennav_docking/dock_database.hpp
• nav2_docking/opennav_docking/src/dock_database.cpp