executive::Executive Class Reference

#include <executive.h>

Inheritance diagram for executive::Executive:

Public Member Functions
	Executive ()
	~Executive ()
void	CameraStatesCallback (ff_msgs::CameraStatesStampedConstPtr const &state)
void	CmdCallback (ff_msgs::CommandStampedPtr const &cmd)
void	DataToDiskCallback (ff_msgs::CompressedFileConstPtr const &data)
void	DockStateCallback (ff_msgs::DockStateConstPtr const &state)
void	FaultStateCallback (ff_msgs::FaultStateConstPtr const &state)
void	GuestScienceAckCallback (ff_msgs::AckStampedConstPtr const &ack)
void	GuestScienceConfigCallback (ff_msgs::GuestScienceConfigConstPtr const &config)
void	GuestScienceStateCallback (ff_msgs::GuestScienceStateConstPtr const &state)
void	GuestScienceCustomCmdTimeoutCallback (ros::TimerEvent const &te)
void	GuestScienceStartStopRestartCmdTimeoutCallback (ros::TimerEvent const &te)
void	InertiaCallback (geometry_msgs::InertiaStampedConstPtr const &inertia)
void	LedConnectedCallback ()
void	MotionStateCallback (ff_msgs::MotionStatePtr const &state)
void	PerchStateCallback (ff_msgs::PerchStateConstPtr const &state)
void	PlanCallback (ff_msgs::CompressedFileConstPtr const &plan)
void	SysMonitorHeartbeatCallback (ff_msgs::HeartbeatConstPtr const &heartbeat)
void	SysMonitorTimeoutCallback (ros::TimerEvent const &te)
void	WaitCallback (ros::TimerEvent const &te)
void	ZonesCallback (ff_msgs::CompressedFileConstPtr const &zones)
bool	AreActionsRunning ()
void	CancelAction (Action action, std::string cmd)
bool	FillArmGoal (ff_msgs::CommandStampedPtr const &cmd)
bool	FillDockGoal (ff_msgs::CommandStampedPtr const &cmd, bool return_to_dock)
bool	FillMotionGoal (Action action, ff_msgs::CommandStampedPtr const &cmd=nullptr)
bool	IsActionRunning (Action action)
bool	StartAction (Action action, std::string const &cmd_id)
bool	RemoveAction (Action action)
void	ArmResultCallback (ff_util::FreeFlyerActionState::Enum const &state, ff_msgs::ArmResultConstPtr const &result)
void	DockResultCallback (ff_util::FreeFlyerActionState::Enum const &state, ff_msgs::DockResultConstPtr const &result)
void	LocalizationResultCallback (ff_util::FreeFlyerActionState::Enum const &state, ff_msgs::LocalizationResultConstPtr const &result)
void	MotionFeedbackCallback (ff_msgs::MotionFeedbackConstPtr const &feedback)
void	MotionResultCallback (ff_util::FreeFlyerActionState::Enum const &state, ff_msgs::MotionResultConstPtr const &result)
void	PerchResultCallback (ff_util::FreeFlyerActionState::Enum const &state, ff_msgs::PerchResultConstPtr const &result)
void	PublishCmdAck (std::string const &cmd_id, uint8_t completed_status=ff_msgs::AckCompletedStatus::OK, std::string const &message="", uint8_t status=ff_msgs::AckStatus::COMPLETED)
void	PublishPlan ()
void	PublishPlanStatus (uint8_t status)
ff_msgs::MobilityState	GetMobilityState ()
uint8_t	GetPlanExecState ()
std::string	GetRunPlanCmdId ()
void	SetMobilityState ()
void	SetMobilityState (uint8_t state, uint32_t sub_state=0)
void	SetOpState (OpState *state)
void	SetPlanExecState (uint8_t state)
void	SetRunPlanCmdId (std::string cmd_id)
void	AckMobilityStateIssue (ff_msgs::CommandStampedPtr const &cmd, std::string const &current_mobility_state, std::string const &accepted_mobility_state="")
bool	ArmControl (ff_msgs::CommandStampedPtr const &cmd)
bool	CheckServiceExists (ros::ServiceClient &serviceIn, std::string const &serviceName, std::string const &cmd_in)
bool	CheckStoppedOrDrifting (std::string const &cmd_id, std::string const &cmd_name)
bool	ConfigureLed (ff_hw_msgs::ConfigureSystemLeds &led_srv)
bool	ConfigureMobility (bool move_to_start, std::string &err_msg)
bool	FailCommandIfMoving (ff_msgs::CommandStampedPtr const &cmd)
bool	LoadUnloadNodelet (ff_msgs::CommandStampedPtr const &cmd)
ros::Time	MsToSec (std::string timestamp)
bool	PowerItem (ff_msgs::CommandStampedPtr const &cmd, bool on)
bool	ProcessGuestScienceCommand (ff_msgs::CommandStampedPtr const &cmd)
bool	ResetEkf (std::string const &cmd_id)
void	StartWaitTimer (float duration)
void	StopWaitTimer ()
bool	AckCurrentPlanItem ()
sequencer::ItemType	GetCurrentPlanItemType ()
ff_msgs::CommandStampedPtr	GetPlanCommand ()
bool	GetSetPlanInertia (std::string const &cmd_id)
void	GetSetPlanOperatingLimits ()
bool	ArmPanAndTilt (ff_msgs::CommandStampedPtr const &cmd)
bool	AutoReturn (ff_msgs::CommandStampedPtr const &cmd)
bool	CustomGuestScience (ff_msgs::CommandStampedPtr const &cmd)
bool	DeployArm (ff_msgs::CommandStampedPtr const &cmd)
bool	Dock (ff_msgs::CommandStampedPtr const &cmd)
bool	EnableAstrobeeIntercomms (ff_msgs::CommandStampedPtr const &cmd)
bool	Fault (ff_msgs::CommandStampedPtr const &cmd)
bool	GripperControl (ff_msgs::CommandStampedPtr const &cmd)
bool	IdlePropulsion (ff_msgs::CommandStampedPtr const &cmd)
bool	InitializeBias (ff_msgs::CommandStampedPtr const &cmd)
bool	LoadNodelet (ff_msgs::CommandStampedPtr const &cmd)
bool	NoOp (ff_msgs::CommandStampedPtr const &cmd)
bool	PausePlan (ff_msgs::CommandStampedPtr const &cmd)
bool	Perch (ff_msgs::CommandStampedPtr const &cmd)
bool	PowerItemOff (ff_msgs::CommandStampedPtr const &cmd)
bool	PowerItemOn (ff_msgs::CommandStampedPtr const &cmd)
bool	Prepare (ff_msgs::CommandStampedPtr const &cmd)
bool	ReacquirePosition (ff_msgs::CommandStampedPtr const &cmd)
bool	ResetEkf (ff_msgs::CommandStampedPtr const &cmd)
bool	RestartGuestScience (ff_msgs::CommandStampedPtr const &cmd)
bool	RunPlan (ff_msgs::CommandStampedPtr const &cmd)
bool	SetCamera (ff_msgs::CommandStampedPtr const &cmd)
bool	SetCameraRecording (ff_msgs::CommandStampedPtr const &cmd)
bool	SetCameraStreaming (ff_msgs::CommandStampedPtr const &cmd)
bool	SetCheckObstacles (ff_msgs::CommandStampedPtr const &cmd)
bool	SetCheckZones (ff_msgs::CommandStampedPtr const &cmd)
bool	SetDataToDisk (ff_msgs::CommandStampedPtr const &cmd)
bool	SetEnableAutoReturn (ff_msgs::CommandStampedPtr const &cmd)
bool	SetEnableImmediate (ff_msgs::CommandStampedPtr const &cmd)
bool	SetEnableReplan (ff_msgs::CommandStampedPtr const &cmd)
bool	SetExposure (ff_msgs::CommandStampedPtr const &cmd)
bool	SetFlashlightBrightness (ff_msgs::CommandStampedPtr const &cmd)
bool	SetHolonomicMode (ff_msgs::CommandStampedPtr const &cmd)
bool	SetInertia (ff_msgs::CommandStampedPtr const &cmd)
bool	SetMap (ff_msgs::CommandStampedPtr const &cmd)
bool	SetOperatingLimits (ff_msgs::CommandStampedPtr const &cmd)
bool	SetPlan (ff_msgs::CommandStampedPtr const &cmd)
bool	SetPlanner (ff_msgs::CommandStampedPtr const &cmd)
bool	SetTelemetryRate (ff_msgs::CommandStampedPtr const &cmd)
bool	SetZones (ff_msgs::CommandStampedPtr const &cmd)
bool	SkipPlanStep (ff_msgs::CommandStampedPtr const &cmd)
bool	StartGuestScience (ff_msgs::CommandStampedPtr const &cmd)
bool	StartRecording (ff_msgs::CommandStampedPtr const &cmd)
bool	StopAllMotion (ff_msgs::CommandStampedPtr const &cmd)
bool	StopArm (ff_msgs::CommandStampedPtr const &cmd)
bool	StopRecording (ff_msgs::CommandStampedPtr const &cmd)
bool	StopGuestScience (ff_msgs::CommandStampedPtr const &cmd)
bool	StowArm (ff_msgs::CommandStampedPtr const &cmd)
bool	SwitchLocalization (ff_msgs::CommandStampedPtr const &cmd)
bool	Undock (ff_msgs::CommandStampedPtr const &cmd)
bool	UnloadNodelet (ff_msgs::CommandStampedPtr const &cmd)
bool	Unperch (ff_msgs::CommandStampedPtr const &cmd)
bool	Unterminate (ff_msgs::CommandStampedPtr const &cmd)
bool	Wait (ff_msgs::CommandStampedPtr const &cmd)
Public Member Functions inherited from ff_util::FreeFlyerNodelet
	FreeFlyerNodelet (bool autostart_hb_timer=true)
	FreeFlyerNodelet (std::string const &name, bool autostart_hb_timer=true)
virtual	~FreeFlyerNodelet ()
void	AssertFault (FaultKeys enum_key, std::string const &message, ros::Time time_fault_occurred=ros::Time::now())
void	ClearAllFaults ()
void	ClearFault (FaultKeys enum_key)
void	PrintFaults ()
ros::NodeHandle *	GetPlatformHandle (bool multithreaded=false)
ros::NodeHandle *	GetPrivateHandle (bool multithreaded=false)
std::string	GetName ()
std::string	GetPlatform ()
std::string	GetTransform (std::string const &child)

Protected Member Functions
virtual void	Initialize (ros::NodeHandle *nh)
bool	ReadParams ()
bool	ReadMapperParams ()
bool	ReadCommand (config_reader::ConfigReader::Table *response, ff_msgs::CommandStampedPtr cmd)
void	PublishAgentState ()
Protected Member Functions inherited from ff_util::FreeFlyerNodelet
virtual void	Reset ()
virtual void	Sleep ()
virtual void	Wakeup ()
void	StopHeartbeat ()
void	SendDiagnostics (const std::vector< diagnostic_msgs::KeyValue > &keyval)
void	Setup (ros::NodeHandle &nh, ros::NodeHandle &nh_mt, std::string plugin_name)

Protected Attributes
OpState *	state_
ExecutiveActionClient< ff_msgs::ArmAction >	arm_ac_
ExecutiveActionClient< ff_msgs::DockAction >	dock_ac_
ExecutiveActionClient< ff_msgs::LocalizationAction >	localization_ac_
ExecutiveActionClient< ff_msgs::MotionAction >	motion_ac_
ExecutiveActionClient< ff_msgs::PerchAction >	perch_ac_
config_reader::ConfigReader	config_params_
config_reader::ConfigReader	mapper_config_params_
ff_msgs::AgentStateStamped	agent_state_
ff_msgs::AckStamped	ack_
ff_msgs::CommandStampedPtr	sys_monitor_init_fault_response_
ff_msgs::CommandStampedPtr	sys_monitor_heartbeat_fault_response_
ff_msgs::CompressedFileAck	cf_ack_
ff_msgs::CompressedFileConstPtr	plan_
ff_msgs::CompressedFileConstPtr	zones_
ff_msgs::CompressedFileConstPtr	data_to_disk_
ff_msgs::CameraStatesStamped	camera_states_
ff_msgs::DockStateConstPtr	dock_state_
ff_msgs::FaultStateConstPtr	fault_state_
ff_msgs::GuestScienceConfigConstPtr	guest_science_config_
ff_msgs::MotionStatePtr	motion_state_
ff_msgs::PerchStateConstPtr	perch_state_
ff_msgs::ArmGoal	arm_goal_
ff_msgs::DockGoal	dock_goal_
ff_msgs::LocalizationGoal	localization_goal_
ff_msgs::MotionGoal	motion_goal_
ff_msgs::PerchGoal	perch_goal_
ff_util::FreeFlyerServiceClient< ff_hw_msgs::ConfigureSystemLeds >	led_client_
geometry_msgs::InertiaStampedConstPtr	current_inertia_
ros::NodeHandle	nh_
ros::Publisher	agent_state_pub_
ros::Publisher	cmd_ack_pub_
ros::Publisher	plan_pub_
ros::Publisher	plan_status_pub_
ros::Publisher	cf_ack_pub_
ros::Publisher	gs_cmd_pub_
ros::ServiceClient	zones_client_
ros::ServiceClient	laser_enable_client_
ros::ServiceClient	front_flashlight_client_
ros::ServiceClient	back_flashlight_client_
ros::ServiceClient	dock_cam_config_client_
ros::ServiceClient	dock_cam_enable_client_
ros::ServiceClient	haz_cam_config_client_
ros::ServiceClient	haz_cam_enable_client_
ros::ServiceClient	nav_cam_config_client_
ros::ServiceClient	nav_cam_enable_client_
ros::ServiceClient	perch_cam_config_client_
ros::ServiceClient	perch_cam_enable_client_
ros::ServiceClient	sci_cam_config_client_
ros::ServiceClient	sci_cam_enable_client_
ros::ServiceClient	payload_power_client_
ros::ServiceClient	pmc_enable_client_
ros::ServiceClient	set_dock_cam_exposure_client_
ros::ServiceClient	set_nav_cam_exposure_client_
ros::ServiceClient	set_inertia_client_
ros::ServiceClient	set_rate_client_
ros::ServiceClient	set_data_client_
ros::ServiceClient	enable_recording_client_
ros::ServiceClient	reset_map_client_
ros::ServiceClient	eps_terminate_client_
ros::ServiceClient	enable_astrobee_intercommunication_client_
ros::ServiceClient	unload_load_nodelet_client_
ros::ServiceClient	set_collision_distance_client_
ros::Subscriber	cmd_sub_
ros::Subscriber	dock_state_sub_
ros::Subscriber	fault_state_sub_
ros::Subscriber	gs_ack_sub_
ros::Subscriber	heartbeat_sub_
ros::Subscriber	motion_sub_
ros::Subscriber	plan_sub_
ros::Subscriber	zones_sub_
ros::Subscriber	data_sub_
ros::Subscriber	gs_config_sub_
ros::Subscriber	gs_state_sub_
ros::Subscriber	camera_state_sub_
ros::Subscriber	perch_state_sub_
ros::Subscriber	inertia_sub_
ros::Timer	gs_start_stop_restart_command_timer_
ros::Timer	gs_custom_command_timer_
ros::Timer	reload_params_timer_
ros::Timer	wait_timer_
ros::Timer	sys_monitor_heartbeat_timer_
ros::Timer	sys_monitor_startup_timer_
sequencer::Sequencer	sequencer_
std::shared_ptr< ff_util::ConfigClient >	choreographer_cfg_
std::shared_ptr< ff_util::ConfigClient >	mapper_cfg_
std::string	primary_apk_running_
std::string	run_plan_cmd_id_
std::string	gs_start_stop_restart_cmd_id_
std::string	gs_custom_cmd_id_
std::vector< Action >	running_actions_
double	action_active_timeout_
double	gs_command_timeout_
double	arm_feedback_timeout_
double	motion_feedback_timeout_
double	dock_result_timeout_
double	perch_result_timeout_
double	localization_result_timeout_
double	led_connected_timeout_
double	sys_monitor_heartbeat_timeout_
double	sys_monitor_startup_time_secs_
int	pub_queue_size_
int	sub_queue_size_
bool	allow_blind_flying_
bool	live_led_on_
bool	sys_monitor_heartbeat_fault_blocking_
bool	sys_monitor_init_fault_blocking_
bool	sys_monitor_heartbeat_fault_occurring_
bool	sys_monitor_init_fault_occurring_
Protected Attributes inherited from ff_util::FreeFlyerNodelet
std::map< std::string, int >	faults_

Additional Inherited Members
Public Types inherited from ff_util::FreeFlyerNodelet
enum	ResolveType : uint8_t { NAMESPACE = 0, TRANSFORM = 1, RESOURCE = 1 }

Detailed Description

Executive class is the mediator, responsible for receiving broadcasted messages and forwarding to specific nodes.

Decisions are handled through current executing state

ref: state & mediator design pattern

Constructor & Destructor Documentation

Executive()

executive::Executive::Executive

(

)

~Executive()

executive::Executive::~Executive

(

)

Member Function Documentation

AckCurrentPlanItem()

bool executive::Executive::AckCurrentPlanItem

(

)

AckMobilityStateIssue()

void executive::Executive::AckMobilityStateIssue	(	ff_msgs::CommandStampedPtr const &	cmd,
		std::string const &	current_mobility_state,
		std::string const &	accepted_mobility_state = ""
	)

AreActionsRunning()

bool executive::Executive::AreActionsRunning

(

)

ArmControl()

bool executive::Executive::ArmControl

(

ff_msgs::CommandStampedPtr const &

cmd

)

ArmPanAndTilt()

bool executive::Executive::ArmPanAndTilt

(

ff_msgs::CommandStampedPtr const &

cmd

)

ArmResultCallback()

void executive::Executive::ArmResultCallback	(	ff_util::FreeFlyerActionState::Enum const &	state,
		ff_msgs::ArmResultConstPtr const &	result
	)

AutoReturn()

bool executive::Executive::AutoReturn

(

ff_msgs::CommandStampedPtr const &

cmd

)

CameraStatesCallback()

void executive::Executive::CameraStatesCallback

(

ff_msgs::CameraStatesStampedConstPtr const &

state

)

CancelAction()

void executive::Executive::CancelAction	(	Action	action,
		std::string	cmd
	)

CheckServiceExists()

bool executive::Executive::CheckServiceExists	(	ros::ServiceClient &	serviceIn,
		std::string const &	serviceName,
		std::string const &	cmd_in
	)

CheckStoppedOrDrifting()

bool executive::Executive::CheckStoppedOrDrifting	(	std::string const &	cmd_id,
		std::string const &	cmd_name
	)

CmdCallback()

void executive::Executive::CmdCallback

(

ff_msgs::CommandStampedPtr const &

cmd

)

ConfigureLed()

bool executive::Executive::ConfigureLed

(

ff_hw_msgs::ConfigureSystemLeds &

led_srv

)

ConfigureMobility()

bool executive::Executive::ConfigureMobility	(	bool	move_to_start,
		std::string &	err_msg
	)

CustomGuestScience()

bool executive::Executive::CustomGuestScience

(

ff_msgs::CommandStampedPtr const &

cmd

)

DataToDiskCallback()

void executive::Executive::DataToDiskCallback

(

ff_msgs::CompressedFileConstPtr const &

data

)

DeployArm()

bool executive::Executive::DeployArm

(

ff_msgs::CommandStampedPtr const &

cmd

)

Dock()

bool executive::Executive::Dock

(

ff_msgs::CommandStampedPtr const &

cmd

)

DockResultCallback()

void executive::Executive::DockResultCallback	(	ff_util::FreeFlyerActionState::Enum const &	state,
		ff_msgs::DockResultConstPtr const &	result
	)

DockStateCallback()

void executive::Executive::DockStateCallback

(

ff_msgs::DockStateConstPtr const &

state

)

EnableAstrobeeIntercomms()

bool executive::Executive::EnableAstrobeeIntercomms

(

ff_msgs::CommandStampedPtr const &

cmd

)

FailCommandIfMoving()

bool executive::Executive::FailCommandIfMoving

(

ff_msgs::CommandStampedPtr const &

cmd

)

Fault()

bool executive::Executive::Fault

(

ff_msgs::CommandStampedPtr const &

cmd

)

FaultStateCallback()

void executive::Executive::FaultStateCallback

(

ff_msgs::FaultStateConstPtr const &

state

)

FillArmGoal()

bool executive::Executive::FillArmGoal

(

ff_msgs::CommandStampedPtr const &

cmd

)

FillDockGoal()

bool executive::Executive::FillDockGoal	(	ff_msgs::CommandStampedPtr const &	cmd,
		bool	return_to_dock
	)

FillMotionGoal()

bool executive::Executive::FillMotionGoal	(	Action	action,
		ff_msgs::CommandStampedPtr const &	cmd = nullptr
	)

GetCurrentPlanItemType()

sequencer::ItemType executive::Executive::GetCurrentPlanItemType

(

)

GetMobilityState()

ff_msgs::MobilityState executive::Executive::GetMobilityState

(

)

GetPlanCommand()

ff_msgs::CommandStampedPtr executive::Executive::GetPlanCommand

(

)

GetPlanExecState()

uint8_t executive::Executive::GetPlanExecState

(

)

GetRunPlanCmdId()

std::string executive::Executive::GetRunPlanCmdId

(

)

GetSetPlanInertia()

bool executive::Executive::GetSetPlanInertia

(

std::string const &

cmd_id

)

GetSetPlanOperatingLimits()

void executive::Executive::GetSetPlanOperatingLimits

(

)

GripperControl()

bool executive::Executive::GripperControl

(

ff_msgs::CommandStampedPtr const &

cmd

)

GuestScienceAckCallback()

void executive::Executive::GuestScienceAckCallback

(

ff_msgs::AckStampedConstPtr const &

ack

)

GuestScienceConfigCallback()

void executive::Executive::GuestScienceConfigCallback

(

ff_msgs::GuestScienceConfigConstPtr const &

config

)

GuestScienceCustomCmdTimeoutCallback()

void executive::Executive::GuestScienceCustomCmdTimeoutCallback

(

ros::TimerEvent const &

te

)

GuestScienceStartStopRestartCmdTimeoutCallback()

void executive::Executive::GuestScienceStartStopRestartCmdTimeoutCallback

(

ros::TimerEvent const &

te

)

GuestScienceStateCallback()

void executive::Executive::GuestScienceStateCallback

(

ff_msgs::GuestScienceStateConstPtr const &

state

)

IdlePropulsion()

bool executive::Executive::IdlePropulsion

(

ff_msgs::CommandStampedPtr const &

cmd

)

InertiaCallback()

void executive::Executive::InertiaCallback

(

geometry_msgs::InertiaStampedConstPtr const &

inertia

)

Initialize()

void executive::Executive::Initialize ( ros::NodeHandle *  nh )

protectedvirtual

Reimplemented from ff_util::FreeFlyerNodelet.

InitializeBias()

bool executive::Executive::InitializeBias

(

ff_msgs::CommandStampedPtr const &

cmd

)

IsActionRunning()

bool executive::Executive::IsActionRunning

(

Action

action

)

LedConnectedCallback()

void executive::Executive::LedConnectedCallback

(

)

LoadNodelet()

bool executive::Executive::LoadNodelet

(

ff_msgs::CommandStampedPtr const &

cmd

)

LoadUnloadNodelet()

bool executive::Executive::LoadUnloadNodelet

(

ff_msgs::CommandStampedPtr const &

cmd

)

LocalizationResultCallback()

void executive::Executive::LocalizationResultCallback	(	ff_util::FreeFlyerActionState::Enum const &	state,
		ff_msgs::LocalizationResultConstPtr const &	result
	)

MotionFeedbackCallback()

void executive::Executive::MotionFeedbackCallback

(

ff_msgs::MotionFeedbackConstPtr const &

feedback

)

MotionResultCallback()

void executive::Executive::MotionResultCallback	(	ff_util::FreeFlyerActionState::Enum const &	state,
		ff_msgs::MotionResultConstPtr const &	result
	)

MotionStateCallback()

void executive::Executive::MotionStateCallback

(

ff_msgs::MotionStatePtr const &

state

)

MsToSec()

ros::Time executive::Executive::MsToSec

(

std::string

timestamp

)

NoOp()

bool executive::Executive::NoOp

(

ff_msgs::CommandStampedPtr const &

cmd

)

PausePlan()

bool executive::Executive::PausePlan

(

ff_msgs::CommandStampedPtr const &

cmd

)

Perch()

bool executive::Executive::Perch

(

ff_msgs::CommandStampedPtr const &

cmd

)

PerchResultCallback()

void executive::Executive::PerchResultCallback	(	ff_util::FreeFlyerActionState::Enum const &	state,
		ff_msgs::PerchResultConstPtr const &	result
	)

PerchStateCallback()

void executive::Executive::PerchStateCallback

(

ff_msgs::PerchStateConstPtr const &

state

)

PlanCallback()

void executive::Executive::PlanCallback

(

ff_msgs::CompressedFileConstPtr const &

plan

)

PowerItem()

bool executive::Executive::PowerItem	(	ff_msgs::CommandStampedPtr const &	cmd,
		bool	on
	)

PowerItemOff()

bool executive::Executive::PowerItemOff

(

ff_msgs::CommandStampedPtr const &

cmd

)

PowerItemOn()

bool executive::Executive::PowerItemOn

(

ff_msgs::CommandStampedPtr const &

cmd

)

Prepare()

bool executive::Executive::Prepare

(

ff_msgs::CommandStampedPtr const &

cmd

)

ProcessGuestScienceCommand()

bool executive::Executive::ProcessGuestScienceCommand

(

ff_msgs::CommandStampedPtr const &

cmd

)

PublishAgentState()

void executive::Executive::PublishAgentState ( )

protected

PublishCmdAck()

void executive::Executive::PublishCmdAck	(	std::string const &	cmd_id,
		uint8_t	completed_status = ff_msgs::AckCompletedStatus::OK,
		std::string const &	message = "",
		uint8_t	status = ff_msgs::AckStatus::COMPLETED
	)

PublishPlan()

void executive::Executive::PublishPlan

(

)

PublishPlanStatus()

void executive::Executive::PublishPlanStatus

(

uint8_t

status

)

ReacquirePosition()

bool executive::Executive::ReacquirePosition

(

ff_msgs::CommandStampedPtr const &

cmd

)

ReadCommand()

bool executive::Executive::ReadCommand ( config_reader::ConfigReader::Table *  response, ff_msgs::CommandStampedPtr  cmd  )

protected

ReadMapperParams()

bool executive::Executive::ReadMapperParams ( )

protected

ReadParams()

bool executive::Executive::ReadParams ( )

protected

RemoveAction()

bool executive::Executive::RemoveAction

(

Action

action

)

ResetEkf() [1/2]

bool executive::Executive::ResetEkf

(

ff_msgs::CommandStampedPtr const &

cmd

)

ResetEkf() [2/2]

bool executive::Executive::ResetEkf

(

std::string const &

cmd_id

)

RestartGuestScience()

bool executive::Executive::RestartGuestScience

(

ff_msgs::CommandStampedPtr const &

cmd

)

RunPlan()

bool executive::Executive::RunPlan

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetCamera()

bool executive::Executive::SetCamera

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetCameraRecording()

bool executive::Executive::SetCameraRecording

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetCameraStreaming()

bool executive::Executive::SetCameraStreaming

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetCheckObstacles()

bool executive::Executive::SetCheckObstacles

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetCheckZones()

bool executive::Executive::SetCheckZones

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetDataToDisk()

bool executive::Executive::SetDataToDisk

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetEnableAutoReturn()

bool executive::Executive::SetEnableAutoReturn

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetEnableImmediate()

bool executive::Executive::SetEnableImmediate

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetEnableReplan()

bool executive::Executive::SetEnableReplan

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetExposure()

bool executive::Executive::SetExposure

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetFlashlightBrightness()

bool executive::Executive::SetFlashlightBrightness

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetHolonomicMode()

bool executive::Executive::SetHolonomicMode

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetInertia()

bool executive::Executive::SetInertia

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetMap()

bool executive::Executive::SetMap

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetMobilityState() [1/2]

void executive::Executive::SetMobilityState

(

)

SetMobilityState() [2/2]

void executive::Executive::SetMobilityState	(	uint8_t	state,
		uint32_t	sub_state = 0
	)

SetOperatingLimits()

bool executive::Executive::SetOperatingLimits

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetOpState()

void executive::Executive::SetOpState

(

OpState *

state

)

SetPlan()

bool executive::Executive::SetPlan

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetPlanExecState()

void executive::Executive::SetPlanExecState

(

uint8_t

state

)

SetPlanner()

bool executive::Executive::SetPlanner

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetRunPlanCmdId()

void executive::Executive::SetRunPlanCmdId

(

std::string

cmd_id

)

SetTelemetryRate()

bool executive::Executive::SetTelemetryRate

(

ff_msgs::CommandStampedPtr const &

cmd

)

SetZones()

bool executive::Executive::SetZones

(

ff_msgs::CommandStampedPtr const &

cmd

)

SkipPlanStep()

bool executive::Executive::SkipPlanStep

(

ff_msgs::CommandStampedPtr const &

cmd

)

StartAction()

bool executive::Executive::StartAction	(	Action	action,
		std::string const &	cmd_id
	)

StartGuestScience()

bool executive::Executive::StartGuestScience

(

ff_msgs::CommandStampedPtr const &

cmd

)

StartRecording()

bool executive::Executive::StartRecording

(

ff_msgs::CommandStampedPtr const &

cmd

)

StartWaitTimer()

void executive::Executive::StartWaitTimer

(

float

duration

)

StopAllMotion()

bool executive::Executive::StopAllMotion

(

ff_msgs::CommandStampedPtr const &

cmd

)

StopArm()

bool executive::Executive::StopArm

(

ff_msgs::CommandStampedPtr const &

cmd

)

StopGuestScience()

bool executive::Executive::StopGuestScience

(

ff_msgs::CommandStampedPtr const &

cmd

)

StopRecording()

bool executive::Executive::StopRecording

(

ff_msgs::CommandStampedPtr const &

cmd

)

StopWaitTimer()

void executive::Executive::StopWaitTimer

(

)

StowArm()

bool executive::Executive::StowArm

(

ff_msgs::CommandStampedPtr const &

cmd

)

SwitchLocalization()

bool executive::Executive::SwitchLocalization

(

ff_msgs::CommandStampedPtr const &

cmd

)

SysMonitorHeartbeatCallback()

void executive::Executive::SysMonitorHeartbeatCallback

(

ff_msgs::HeartbeatConstPtr const &

heartbeat

)

SysMonitorTimeoutCallback()

void executive::Executive::SysMonitorTimeoutCallback

(

ros::TimerEvent const &

te

)

Undock()

bool executive::Executive::Undock

(

ff_msgs::CommandStampedPtr const &

cmd

)

UnloadNodelet()

bool executive::Executive::UnloadNodelet

(

ff_msgs::CommandStampedPtr const &

cmd

)

Unperch()

bool executive::Executive::Unperch

(

ff_msgs::CommandStampedPtr const &

cmd

)

Unterminate()

bool executive::Executive::Unterminate

(

ff_msgs::CommandStampedPtr const &

cmd

)

Wait()

bool executive::Executive::Wait

(

ff_msgs::CommandStampedPtr const &

cmd

)

WaitCallback()

void executive::Executive::WaitCallback

(

ros::TimerEvent const &

te

)

ZonesCallback()

void executive::Executive::ZonesCallback

(

ff_msgs::CompressedFileConstPtr const &

zones

)

Member Data Documentation

ack_

ff_msgs::AckStamped executive::Executive::ack_

protected

action_active_timeout_

double executive::Executive::action_active_timeout_

protected

agent_state_

ff_msgs::AgentStateStamped executive::Executive::agent_state_

protected

agent_state_pub_

ros::Publisher executive::Executive::agent_state_pub_

protected

allow_blind_flying_

bool executive::Executive::allow_blind_flying_

protected

arm_ac_

ExecutiveActionClient<ff_msgs::ArmAction> executive::Executive::arm_ac_

protected

arm_feedback_timeout_

double executive::Executive::arm_feedback_timeout_

protected

arm_goal_

ff_msgs::ArmGoal executive::Executive::arm_goal_

protected

back_flashlight_client_

ros::ServiceClient executive::Executive::back_flashlight_client_

protected

camera_state_sub_

ros::Subscriber executive::Executive::camera_state_sub_

protected

camera_states_

ff_msgs::CameraStatesStamped executive::Executive::camera_states_

protected

cf_ack_

ff_msgs::CompressedFileAck executive::Executive::cf_ack_

protected

cf_ack_pub_

ros::Publisher executive::Executive::cf_ack_pub_

protected

choreographer_cfg_

std::shared_ptr<ff_util::ConfigClient> executive::Executive::choreographer_cfg_

protected

cmd_ack_pub_

ros::Publisher executive::Executive::cmd_ack_pub_

protected

cmd_sub_

ros::Subscriber executive::Executive::cmd_sub_

protected

config_params_

config_reader::ConfigReader executive::Executive::config_params_

protected

current_inertia_

geometry_msgs::InertiaStampedConstPtr executive::Executive::current_inertia_

protected

data_sub_

ros::Subscriber executive::Executive::data_sub_

protected

data_to_disk_

ff_msgs::CompressedFileConstPtr executive::Executive::data_to_disk_

protected

dock_ac_

ExecutiveActionClient<ff_msgs::DockAction> executive::Executive::dock_ac_

protected

dock_cam_config_client_

ros::ServiceClient executive::Executive::dock_cam_config_client_

protected

dock_cam_enable_client_

ros::ServiceClient executive::Executive::dock_cam_enable_client_

protected

dock_goal_

ff_msgs::DockGoal executive::Executive::dock_goal_

protected

dock_result_timeout_

double executive::Executive::dock_result_timeout_

protected

dock_state_

ff_msgs::DockStateConstPtr executive::Executive::dock_state_

protected

dock_state_sub_

ros::Subscriber executive::Executive::dock_state_sub_

protected

enable_astrobee_intercommunication_client_

ros::ServiceClient executive::Executive::enable_astrobee_intercommunication_client_

protected

enable_recording_client_

ros::ServiceClient executive::Executive::enable_recording_client_

protected

eps_terminate_client_

ros::ServiceClient executive::Executive::eps_terminate_client_

protected

fault_state_

ff_msgs::FaultStateConstPtr executive::Executive::fault_state_

protected

fault_state_sub_

ros::Subscriber executive::Executive::fault_state_sub_

protected

front_flashlight_client_

ros::ServiceClient executive::Executive::front_flashlight_client_

protected

gs_ack_sub_

ros::Subscriber executive::Executive::gs_ack_sub_

protected

gs_cmd_pub_

ros::Publisher executive::Executive::gs_cmd_pub_

protected

gs_command_timeout_

double executive::Executive::gs_command_timeout_

protected

gs_config_sub_

ros::Subscriber executive::Executive::gs_config_sub_

protected

gs_custom_cmd_id_

std::string executive::Executive::gs_custom_cmd_id_

protected

gs_custom_command_timer_

ros::Timer executive::Executive::gs_custom_command_timer_

protected

gs_start_stop_restart_cmd_id_

std::string executive::Executive::gs_start_stop_restart_cmd_id_

protected

gs_start_stop_restart_command_timer_

ros::Timer executive::Executive::gs_start_stop_restart_command_timer_

protected

gs_state_sub_

ros::Subscriber executive::Executive::gs_state_sub_

protected

guest_science_config_

ff_msgs::GuestScienceConfigConstPtr executive::Executive::guest_science_config_

protected

haz_cam_config_client_

ros::ServiceClient executive::Executive::haz_cam_config_client_

protected

haz_cam_enable_client_

ros::ServiceClient executive::Executive::haz_cam_enable_client_

protected

heartbeat_sub_

ros::Subscriber executive::Executive::heartbeat_sub_

protected

inertia_sub_

ros::Subscriber executive::Executive::inertia_sub_

protected

laser_enable_client_

ros::ServiceClient executive::Executive::laser_enable_client_

protected

led_client_

ff_util::FreeFlyerServiceClient<ff_hw_msgs::ConfigureSystemLeds> executive::Executive::led_client_

protected

led_connected_timeout_

double executive::Executive::led_connected_timeout_

protected

live_led_on_

bool executive::Executive::live_led_on_

protected

localization_ac_

ExecutiveActionClient<ff_msgs::LocalizationAction> executive::Executive::localization_ac_

protected

localization_goal_

ff_msgs::LocalizationGoal executive::Executive::localization_goal_

protected

localization_result_timeout_

double executive::Executive::localization_result_timeout_

protected

mapper_cfg_

std::shared_ptr<ff_util::ConfigClient> executive::Executive::mapper_cfg_

protected

mapper_config_params_

config_reader::ConfigReader executive::Executive::mapper_config_params_

protected

motion_ac_

ExecutiveActionClient<ff_msgs::MotionAction> executive::Executive::motion_ac_

protected

motion_feedback_timeout_

double executive::Executive::motion_feedback_timeout_

protected

motion_goal_

ff_msgs::MotionGoal executive::Executive::motion_goal_

protected

motion_state_

ff_msgs::MotionStatePtr executive::Executive::motion_state_

protected

motion_sub_

ros::Subscriber executive::Executive::motion_sub_

protected

nav_cam_config_client_

ros::ServiceClient executive::Executive::nav_cam_config_client_

protected

nav_cam_enable_client_

ros::ServiceClient executive::Executive::nav_cam_enable_client_

protected

nh_

ros::NodeHandle executive::Executive::nh_

protected

payload_power_client_

ros::ServiceClient executive::Executive::payload_power_client_

protected

perch_ac_

ExecutiveActionClient<ff_msgs::PerchAction> executive::Executive::perch_ac_

protected

perch_cam_config_client_

ros::ServiceClient executive::Executive::perch_cam_config_client_

protected

perch_cam_enable_client_

ros::ServiceClient executive::Executive::perch_cam_enable_client_

protected

perch_goal_

ff_msgs::PerchGoal executive::Executive::perch_goal_

protected

perch_result_timeout_

double executive::Executive::perch_result_timeout_

protected

perch_state_

ff_msgs::PerchStateConstPtr executive::Executive::perch_state_

protected

perch_state_sub_

ros::Subscriber executive::Executive::perch_state_sub_

protected

plan_

ff_msgs::CompressedFileConstPtr executive::Executive::plan_

protected

plan_pub_

ros::Publisher executive::Executive::plan_pub_

protected

plan_status_pub_

ros::Publisher executive::Executive::plan_status_pub_

protected

plan_sub_

ros::Subscriber executive::Executive::plan_sub_

protected

pmc_enable_client_

ros::ServiceClient executive::Executive::pmc_enable_client_

protected

primary_apk_running_

std::string executive::Executive::primary_apk_running_

protected

pub_queue_size_

int executive::Executive::pub_queue_size_

protected

reload_params_timer_

ros::Timer executive::Executive::reload_params_timer_

protected

reset_map_client_

ros::ServiceClient executive::Executive::reset_map_client_

protected

run_plan_cmd_id_

std::string executive::Executive::run_plan_cmd_id_

protected

running_actions_

std::vector<Action> executive::Executive::running_actions_

protected

sci_cam_config_client_

ros::ServiceClient executive::Executive::sci_cam_config_client_

protected

sci_cam_enable_client_

ros::ServiceClient executive::Executive::sci_cam_enable_client_

protected

sequencer_

sequencer::Sequencer executive::Executive::sequencer_

protected

set_collision_distance_client_

ros::ServiceClient executive::Executive::set_collision_distance_client_

protected

set_data_client_

ros::ServiceClient executive::Executive::set_data_client_

protected

set_dock_cam_exposure_client_

ros::ServiceClient executive::Executive::set_dock_cam_exposure_client_

protected

set_inertia_client_

ros::ServiceClient executive::Executive::set_inertia_client_

protected

set_nav_cam_exposure_client_

ros::ServiceClient executive::Executive::set_nav_cam_exposure_client_

protected

set_rate_client_

ros::ServiceClient executive::Executive::set_rate_client_

protected

state_

OpState* executive::Executive::state_

protected

sub_queue_size_

int executive::Executive::sub_queue_size_

protected

sys_monitor_heartbeat_fault_blocking_

bool executive::Executive::sys_monitor_heartbeat_fault_blocking_

protected

sys_monitor_heartbeat_fault_occurring_

bool executive::Executive::sys_monitor_heartbeat_fault_occurring_

protected

sys_monitor_heartbeat_fault_response_

ff_msgs::CommandStampedPtr executive::Executive::sys_monitor_heartbeat_fault_response_

protected

sys_monitor_heartbeat_timeout_

double executive::Executive::sys_monitor_heartbeat_timeout_

protected

sys_monitor_heartbeat_timer_

ros::Timer executive::Executive::sys_monitor_heartbeat_timer_

protected

sys_monitor_init_fault_blocking_

bool executive::Executive::sys_monitor_init_fault_blocking_

protected

sys_monitor_init_fault_occurring_

bool executive::Executive::sys_monitor_init_fault_occurring_

protected

sys_monitor_init_fault_response_

ff_msgs::CommandStampedPtr executive::Executive::sys_monitor_init_fault_response_

protected

sys_monitor_startup_time_secs_

double executive::Executive::sys_monitor_startup_time_secs_

protected

sys_monitor_startup_timer_

ros::Timer executive::Executive::sys_monitor_startup_timer_

protected

unload_load_nodelet_client_

ros::ServiceClient executive::Executive::unload_load_nodelet_client_

protected

wait_timer_

ros::Timer executive::Executive::wait_timer_

protected

zones_

ff_msgs::CompressedFileConstPtr executive::Executive::zones_

protected

zones_client_

ros::ServiceClient executive::Executive::zones_client_

protected

zones_sub_

ros::Subscriber executive::Executive::zones_sub_

protected

---

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

• management/executive/include/executive/executive.h
• management/executive/src/executive.cc