GazeTargetWaiter Class Reference

Blocks until the gaze is fixed on a requested target. More...

#include <armarx/view_selection/client/GazeTargetWaiter.h>

Classes
struct	Result

Public Member Functions
void	bind (const std::string &targetName, const armem::MemoryID &gazeTargetID)
	Narrow the expectation to the exact request snapshot, once the commit returned its ID.
void	expect (const std::string &targetName)
	Start collecting updates for this target. Call before committing it.
void	forget (const std::string &targetName)
	Drop an expectation without waiting for it.
	GazeTargetWaiter (StatusHandlerInterface &handler)
Result	wait (const std::string &targetName, const armarx::Duration &timeout, const std::function< bool()> &shouldAbort)
	Block until the target is reached, ends, the abort predicate fires or the timeout expires.

Detailed Description

Blocks until the gaze is fixed on a requested target.

The analogue of navigation's client::Navigator::waitForStop, with two differences that matter here:

• An expectation is armed before the target is committed, so a status that arrives while the caller is still on its way into wait() is not lost. (navigation::client::Navigator documents this as an open race.)
• Waiting sleeps on a condition variable rather than spinning on a future, and re-checks the abort predicate on a fixed tick.

One instance serves a whole client: expectations are keyed by target name, which is also the memory entity name, so concurrently running skills necessarily use distinct keys.

Definition at line 35 of file GazeTargetWaiter.h.

Constructor & Destructor Documentation

GazeTargetWaiter()

GazeTargetWaiter ( StatusHandlerInterface & handler )

explicit

Definition at line 29 of file GazeTargetWaiter.cpp.

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Member Function Documentation

bind()

void bind	(	const std::string &	targetName,
		const armem::MemoryID &	gazeTargetID )

Narrow the expectation to the exact request snapshot, once the commit returned its ID.

Definition at line 45 of file GazeTargetWaiter.cpp.

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expect()

void expect

(

const std::string &

targetName

)

Start collecting updates for this target. Call before committing it.

Definition at line 36 of file GazeTargetWaiter.cpp.

forget()

void forget

(

const std::string &

targetName

)

Drop an expectation without waiting for it.

Definition at line 69 of file GazeTargetWaiter.cpp.

wait()

GazeTargetWaiter::Result wait	(	const std::string &	targetName,
		const armarx::Duration &	timeout,
		const std::function< bool()> &	shouldAbort )

Block until the target is reached, ends, the abort predicate fires or the timeout expires.

Consumes the expectation.

Parameters

timeout	A non-positive duration waits indefinitely.
shouldAbort	Polled regularly; typically the skill's shouldSkillTerminate().

Definition at line 105 of file GazeTargetWaiter.cpp.

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

• armarx/view_selection/client/GazeTargetWaiter.h
• armarx/view_selection/client/GazeTargetWaiter.cpp