rpos::core::Action Class

Header File

rpos/core/action.h

Applies to

• Slamware

Methods

/**
* Get the current action working status. Refer to ActionStatus for details.
*/
ActionStatus getStatus();     

/**
* Cancel the action to let it stop working.
*/
void cancel();

/**
* Wait the action to stop (ether finish working, been cancelled or stopped by some error). Returns the action execution result via the ActionStatus Enum.
*/
ActionStatus waitUntilDone();   

/**
* Check whether the current Action is an empty action. If the current action is empty, it means the SLAMWARE system is in idle state.
*/
bool isEmpty();

/**
* Retrieves the ActionID of the action.
*/
rpos::core::ActionID getActionId();

/**
* Retrieves the detailed error description text message once the Action::getStatus() method returns ActionStatusError.
*/
std::string Action::getReason();

Reason Text	Available Actions	Descriptions
"failed"	all actions	the action just fails
"aborted"	all actions	the action has been aborted (been cancelled or aborted by a new action )
"unreachable"	actions returned by moveTo()	there is no valid path to the destination point
"blocked[X]" e.g. "blocked[lidar;contact]"	actions returned by moveTo() with MoveOptionFlagKeyPoints set	action failed due to there exists obstacles in front of the robot when following virtual tracks. The X can be any combination of the following items: "lidar" : obstacle is detected by LIDAR(s) "wall" : obstacle is a virtual wall "contact" : obstacle is detected by bump sensors "depth_camera" : obstacle is detected by depth camera(s) "sonar" : obstacle is detected by ultrasonic sensor(s). If more than one above items should be included in the X, a semi-colons (;) symbol is used to join these items.

/**
* cast a rpos::core::Action to its child class object
*/
template<class ActionT> ActionT cast()

Example

rpos::core::Action someAction = robotPlatform.startSomeAction();
rpos::actions::MoveAction moveAction = someAction.cast<rpos::actions::MoveAction>();